cv.h
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波变换
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Visual C++
- /*M///////////////////////////////////////////////////////////////////////////////////////
- //
- // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
- //
- // By downloading, copying, installing or using the software you agree to this license.
- // If you do not agree to this license, do not download, install,
- // copy or use the software.
- //
- //
- // License Agreement
- // For Open Source Computer Vision Library
- //
- // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
- // Copyright (C) 2009, Willow Garage Inc., all rights reserved.
- // Third party copyrights are property of their respective owners.
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- //M*/
- #ifndef _CV_H_
- #define _CV_H_
- #ifdef __IPL_H__
- #define HAVE_IPL
- #endif
- #ifndef SKIP_INCLUDES
- #if defined(_CH_)
- #pragma package <chopencv>
- #include <chdl.h>
- LOAD_CHDL(cv)
- #endif
- #endif
- #include "cxcore.h"
- #include "cvtypes.h"
- #ifdef __cplusplus
- extern "C" {
- #endif
- /****************************************************************************************
- * Image Processing *
- ****************************************************************************************/
- /* Copies source 2D array inside of the larger destination array and
- makes a border of the specified type (IPL_BORDER_*) around the copied area. */
- CVAPI(void) cvCopyMakeBorder( const CvArr* src, CvArr* dst, CvPoint offset,
- int bordertype, CvScalar value CV_DEFAULT(cvScalarAll(0)));
- #define CV_BLUR_NO_SCALE 0
- #define CV_BLUR 1
- #define CV_GAUSSIAN 2
- #define CV_MEDIAN 3
- #define CV_BILATERAL 4
- /* Smoothes array (removes noise) */
- CVAPI(void) cvSmooth( const CvArr* src, CvArr* dst,
- int smoothtype CV_DEFAULT(CV_GAUSSIAN),
- int size1 CV_DEFAULT(3),
- int size2 CV_DEFAULT(0),
- double sigma1 CV_DEFAULT(0),
- double sigma2 CV_DEFAULT(0));
- /* Convolves the image with the kernel */
- CVAPI(void) cvFilter2D( const CvArr* src, CvArr* dst, const CvMat* kernel,
- CvPoint anchor CV_DEFAULT(cvPoint(-1,-1)));
- /* Finds integral image: SUM(X,Y) = sum(x<X,y<Y)I(x,y) */
- CVAPI(void) cvIntegral( const CvArr* image, CvArr* sum,
- CvArr* sqsum CV_DEFAULT(NULL),
- CvArr* tilted_sum CV_DEFAULT(NULL));
- /*
- Smoothes the input image with gaussian kernel and then down-samples it.
- dst_width = floor(src_width/2)[+1],
- dst_height = floor(src_height/2)[+1]
- */
- CVAPI(void) cvPyrDown( const CvArr* src, CvArr* dst,
- int filter CV_DEFAULT(CV_GAUSSIAN_5x5) );
- /*
- Up-samples image and smoothes the result with gaussian kernel.
- dst_width = src_width*2,
- dst_height = src_height*2
- */
- CVAPI(void) cvPyrUp( const CvArr* src, CvArr* dst,
- int filter CV_DEFAULT(CV_GAUSSIAN_5x5) );
- /* Builds pyramid for an image */
- CVAPI(CvMat**) cvCreatePyramid( const CvArr* img, int extra_layers, double rate,
- const CvSize* layer_sizes CV_DEFAULT(0),
- CvArr* bufarr CV_DEFAULT(0),
- int calc CV_DEFAULT(1),
- int filter CV_DEFAULT(CV_GAUSSIAN_5x5) );
- /* Releases pyramid */
- CVAPI(void) cvReleasePyramid( CvMat*** pyramid, int extra_layers );
- /* Splits color or grayscale image into multiple connected components
- of nearly the same color/brightness using modification of Burt algorithm.
- comp with contain a pointer to sequence (CvSeq)
- of connected components (CvConnectedComp) */
- CVAPI(void) cvPyrSegmentation( IplImage* src, IplImage* dst,
- CvMemStorage* storage, CvSeq** comp,
- int level, double threshold1,
- double threshold2 );
- /* Filters image using meanshift algorithm */
- CVAPI(void) cvPyrMeanShiftFiltering( const CvArr* src, CvArr* dst,
- double sp, double sr, int max_level CV_DEFAULT(1),
- CvTermCriteria termcrit CV_DEFAULT(cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,5,1)));
- /* Segments image using seed "markers" */
- CVAPI(void) cvWatershed( const CvArr* image, CvArr* markers );
- #define CV_INPAINT_NS 0
- #define CV_INPAINT_TELEA 1
- /* Inpaints the selected region in the image */
- CVAPI(void) cvInpaint( const CvArr* src, const CvArr* inpaint_mask,
- CvArr* dst, double inpaintRange, int flags );
- #define CV_SCHARR -1
- #define CV_MAX_SOBEL_KSIZE 7
- /* Calculates an image derivative using generalized Sobel
- (aperture_size = 1,3,5,7) or Scharr (aperture_size = -1) operator.
- Scharr can be used only for the first dx or dy derivative */
- CVAPI(void) cvSobel( const CvArr* src, CvArr* dst,
- int xorder, int yorder,
- int aperture_size CV_DEFAULT(3));
- /* Calculates the image Laplacian: (d2/dx + d2/dy)I */
- CVAPI(void) cvLaplace( const CvArr* src, CvArr* dst,
- int aperture_size CV_DEFAULT(3) );
- /* Constants for color conversion */
- #define CV_BGR2BGRA 0
- #define CV_RGB2RGBA CV_BGR2BGRA
- #define CV_BGRA2BGR 1
- #define CV_RGBA2RGB CV_BGRA2BGR
- #define CV_BGR2RGBA 2
- #define CV_RGB2BGRA CV_BGR2RGBA
- #define CV_RGBA2BGR 3
- #define CV_BGRA2RGB CV_RGBA2BGR
- #define CV_BGR2RGB 4
- #define CV_RGB2BGR CV_BGR2RGB
- #define CV_BGRA2RGBA 5
- #define CV_RGBA2BGRA CV_BGRA2RGBA
- #define CV_BGR2GRAY 6
- #define CV_RGB2GRAY 7
- #define CV_GRAY2BGR 8
- #define CV_GRAY2RGB CV_GRAY2BGR
- #define CV_GRAY2BGRA 9
- #define CV_GRAY2RGBA CV_GRAY2BGRA
- #define CV_BGRA2GRAY 10
- #define CV_RGBA2GRAY 11
- #define CV_BGR2BGR565 12
- #define CV_RGB2BGR565 13
- #define CV_BGR5652BGR 14
- #define CV_BGR5652RGB 15
- #define CV_BGRA2BGR565 16
- #define CV_RGBA2BGR565 17
- #define CV_BGR5652BGRA 18
- #define CV_BGR5652RGBA 19
- #define CV_GRAY2BGR565 20
- #define CV_BGR5652GRAY 21
- #define CV_BGR2BGR555 22
- #define CV_RGB2BGR555 23
- #define CV_BGR5552BGR 24
- #define CV_BGR5552RGB 25
- #define CV_BGRA2BGR555 26
- #define CV_RGBA2BGR555 27
- #define CV_BGR5552BGRA 28
- #define CV_BGR5552RGBA 29
- #define CV_GRAY2BGR555 30
- #define CV_BGR5552GRAY 31
- #define CV_BGR2XYZ 32
- #define CV_RGB2XYZ 33
- #define CV_XYZ2BGR 34
- #define CV_XYZ2RGB 35
- #define CV_BGR2YCrCb 36
- #define CV_RGB2YCrCb 37
- #define CV_YCrCb2BGR 38
- #define CV_YCrCb2RGB 39
- #define CV_BGR2HSV 40
- #define CV_RGB2HSV 41
- #define CV_BGR2Lab 44
- #define CV_RGB2Lab 45
- #define CV_BayerBG2BGR 46
- #define CV_BayerGB2BGR 47
- #define CV_BayerRG2BGR 48
- #define CV_BayerGR2BGR 49
- #define CV_BayerBG2RGB CV_BayerRG2BGR
- #define CV_BayerGB2RGB CV_BayerGR2BGR
- #define CV_BayerRG2RGB CV_BayerBG2BGR
- #define CV_BayerGR2RGB CV_BayerGB2BGR
- #define CV_BGR2Luv 50
- #define CV_RGB2Luv 51
- #define CV_BGR2HLS 52
- #define CV_RGB2HLS 53
- #define CV_HSV2BGR 54
- #define CV_HSV2RGB 55
- #define CV_Lab2BGR 56
- #define CV_Lab2RGB 57
- #define CV_Luv2BGR 58
- #define CV_Luv2RGB 59
- #define CV_HLS2BGR 60
- #define CV_HLS2RGB 61
- #define CV_COLORCVT_MAX 100
- /* Converts input array pixels from one color space to another */
- CVAPI(void) cvCvtColor( const CvArr* src, CvArr* dst, int code );
- #define CV_INTER_NN 0
- #define CV_INTER_LINEAR 1
- #define CV_INTER_CUBIC 2
- #define CV_INTER_AREA 3
- #define CV_WARP_FILL_OUTLIERS 8
- #define CV_WARP_INVERSE_MAP 16
- /* Resizes image (input array is resized to fit the destination array) */
- CVAPI(void) cvResize( const CvArr* src, CvArr* dst,
- int interpolation CV_DEFAULT( CV_INTER_LINEAR ));
- /* Warps image with affine transform */
- CVAPI(void) cvWarpAffine( const CvArr* src, CvArr* dst, const CvMat* map_matrix,
- int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS),
- CvScalar fillval CV_DEFAULT(cvScalarAll(0)) );
- /* Computes affine transform matrix for mapping src[i] to dst[i] (i=0,1,2) */
- CVAPI(CvMat*) cvGetAffineTransform( const CvPoint2D32f * src,
- const CvPoint2D32f * dst,
- CvMat * map_matrix );
- /* Computes rotation_matrix matrix */
- CVAPI(CvMat*) cv2DRotationMatrix( CvPoint2D32f center, double angle,
- double scale, CvMat* map_matrix );
- /* Warps image with perspective (projective) transform */
- CVAPI(void) cvWarpPerspective( const CvArr* src, CvArr* dst, const CvMat* map_matrix,
- int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS),
- CvScalar fillval CV_DEFAULT(cvScalarAll(0)) );
- /* Computes perspective transform matrix for mapping src[i] to dst[i] (i=0,1,2,3) */
- CVAPI(CvMat*) cvGetPerspectiveTransform( const CvPoint2D32f* src,
- const CvPoint2D32f* dst,
- CvMat* map_matrix );
- /* Performs generic geometric transformation using the specified coordinate maps */
- CVAPI(void) cvRemap( const CvArr* src, CvArr* dst,
- const CvArr* mapx, const CvArr* mapy,
- int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS),
- CvScalar fillval CV_DEFAULT(cvScalarAll(0)) );
- /* Converts mapx & mapy from floating-point to integer formats for cvRemap */
- CVAPI(void) cvConvertMaps( const CvArr* mapx, const CvArr* mapy,
- CvArr* mapxy, CvArr* mapalpha );
- /* Performs forward or inverse log-polar image transform */
- CVAPI(void) cvLogPolar( const CvArr* src, CvArr* dst,
- CvPoint2D32f center, double M,
- int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS));
- /* Performs forward or inverse linear-polar image transform */
- CVAPI(void) cvLinearPolar( const CvArr* src, CvArr* dst,
- CvPoint2D32f center, double maxRadius,
- int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS));
- #define CV_SHAPE_RECT 0
- #define CV_SHAPE_CROSS 1
- #define CV_SHAPE_ELLIPSE 2
- #define CV_SHAPE_CUSTOM 100
- /* creates structuring element used for morphological operations */
- CVAPI(IplConvKernel*) cvCreateStructuringElementEx(
- int cols, int rows, int anchor_x, int anchor_y,
- int shape, int* values CV_DEFAULT(NULL) );
- /* releases structuring element */
- CVAPI(void) cvReleaseStructuringElement( IplConvKernel** element );
- /* erodes input image (applies minimum filter) one or more times.
- If element pointer is NULL, 3x3 rectangular element is used */
- CVAPI(void) cvErode( const CvArr* src, CvArr* dst,
- IplConvKernel* element CV_DEFAULT(NULL),
- int iterations CV_DEFAULT(1) );
- /* dilates input image (applies maximum filter) one or more times.
- If element pointer is NULL, 3x3 rectangular element is used */
- CVAPI(void) cvDilate( const CvArr* src, CvArr* dst,
- IplConvKernel* element CV_DEFAULT(NULL),
- int iterations CV_DEFAULT(1) );
- #define CV_MOP_OPEN 2
- #define CV_MOP_CLOSE 3
- #define CV_MOP_GRADIENT 4
- #define CV_MOP_TOPHAT 5
- #define CV_MOP_BLACKHAT 6
- /* Performs complex morphological transformation */
- CVAPI(void) cvMorphologyEx( const CvArr* src, CvArr* dst,
- CvArr* temp, IplConvKernel* element,
- int operation, int iterations CV_DEFAULT(1) );
- /* Calculates all spatial and central moments up to the 3rd order */
- CVAPI(void) cvMoments( const CvArr* arr, CvMoments* moments, int binary CV_DEFAULT(0));
- /* Retrieve particular spatial, central or normalized central moments */
- CVAPI(double) cvGetSpatialMoment( CvMoments* moments, int x_order, int y_order );
- CVAPI(double) cvGetCentralMoment( CvMoments* moments, int x_order, int y_order );
- CVAPI(double) cvGetNormalizedCentralMoment( CvMoments* moments,
- int x_order, int y_order );
- /* Calculates 7 Hu's invariants from precalculated spatial and central moments */
- CVAPI(void) cvGetHuMoments( CvMoments* moments, CvHuMoments* hu_moments );
- /*********************************** data sampling **************************************/
- /* Fetches pixels that belong to the specified line segment and stores them to the buffer.
- Returns the number of retrieved points. */
- CVAPI(int) cvSampleLine( const CvArr* image, CvPoint pt1, CvPoint pt2, void* buffer,
- int connectivity CV_DEFAULT(8));
- /* Retrieves the rectangular image region with specified center from the input array.
- dst(x,y) <- src(x + center.x - dst_width/2, y + center.y - dst_height/2).
- Values of pixels with fractional coordinates are retrieved using bilinear interpolation*/
- CVAPI(void) cvGetRectSubPix( const CvArr* src, CvArr* dst, CvPoint2D32f center );
- /* Retrieves quadrangle from the input array.
- matrixarr = ( a11 a12 | b1 ) dst(x,y) <- src(A[x y]' + b)
- ( a21 a22 | b2 ) (bilinear interpolation is used to retrieve pixels
- with fractional coordinates)
- */
- CVAPI(void) cvGetQuadrangleSubPix( const CvArr* src, CvArr* dst,
- const CvMat* map_matrix );
- /* Methods for comparing two array */
- #define CV_TM_SQDIFF 0
- #define CV_TM_SQDIFF_NORMED 1
- #define CV_TM_CCORR 2
- #define CV_TM_CCORR_NORMED 3
- #define CV_TM_CCOEFF 4
- #define CV_TM_CCOEFF_NORMED 5
- /* Measures similarity between template and overlapped windows in the source image
- and fills the resultant image with the measurements */
- CVAPI(void) cvMatchTemplate( const CvArr* image, const CvArr* templ,
- CvArr* result, int method );
- /* Computes earth mover distance between
- two weighted point sets (called signatures) */
- CVAPI(float) cvCalcEMD2( const CvArr* signature1,
- const CvArr* signature2,
- int distance_type,
- CvDistanceFunction distance_func CV_DEFAULT(NULL),
- const CvArr* cost_matrix CV_DEFAULT(NULL),
- CvArr* flow CV_DEFAULT(NULL),
- float* lower_bound CV_DEFAULT(NULL),
- void* userdata CV_DEFAULT(NULL));
- /****************************************************************************************
- * Contours retrieving *
- ****************************************************************************************/
- /* Retrieves outer and optionally inner boundaries of white (non-zero) connected
- components in the black (zero) background */
- CVAPI(int) cvFindContours( CvArr* image, CvMemStorage* storage, CvSeq** first_contour,
- int header_size CV_DEFAULT(sizeof(CvContour)),
- int mode CV_DEFAULT(CV_RETR_LIST),
- int method CV_DEFAULT(CV_CHAIN_APPROX_SIMPLE),
- CvPoint offset CV_DEFAULT(cvPoint(0,0)));
- /* Initalizes contour retrieving process.
- Calls cvStartFindContours.
- Calls cvFindNextContour until null pointer is returned
- or some other condition becomes true.
- Calls cvEndFindContours at the end. */
- CVAPI(CvContourScanner) cvStartFindContours( CvArr* image, CvMemStorage* storage,
- int header_size CV_DEFAULT(sizeof(CvContour)),
- int mode CV_DEFAULT(CV_RETR_LIST),
- int method CV_DEFAULT(CV_CHAIN_APPROX_SIMPLE),
- CvPoint offset CV_DEFAULT(cvPoint(0,0)));
- /* Retrieves next contour */
- CVAPI(CvSeq*) cvFindNextContour( CvContourScanner scanner );
- /* Substitutes the last retrieved contour with the new one
- (if the substitutor is null, the last retrieved contour is removed from the tree) */
- CVAPI(void) cvSubstituteContour( CvContourScanner scanner, CvSeq* new_contour );
- /* Releases contour scanner and returns pointer to the first outer contour */
- CVAPI(CvSeq*) cvEndFindContours( CvContourScanner* scanner );
- /* Approximates a single Freeman chain or a tree of chains to polygonal curves */
- CVAPI(CvSeq*) cvApproxChains( CvSeq* src_seq, CvMemStorage* storage,
- int method CV_DEFAULT(CV_CHAIN_APPROX_SIMPLE),
- double parameter CV_DEFAULT(0),
- int minimal_perimeter CV_DEFAULT(0),
- int recursive CV_DEFAULT(0));
- /* Initalizes Freeman chain reader.
- The reader is used to iteratively get coordinates of all the chain points.
- If the Freeman codes should be read as is, a simple sequence reader should be used */
- CVAPI(void) cvStartReadChainPoints( CvChain* chain, CvChainPtReader* reader );
- /* Retrieves the next chain point */
- CVAPI(CvPoint) cvReadChainPoint( CvChainPtReader* reader );
- /****************************************************************************************
- * Motion Analysis *
- ****************************************************************************************/
- /************************************ optical flow ***************************************/
- /* Calculates optical flow for 2 images using classical Lucas & Kanade algorithm */
- CVAPI(void) cvCalcOpticalFlowLK( const CvArr* prev, const CvArr* curr,
- CvSize win_size, CvArr* velx, CvArr* vely );
- /* Calculates optical flow for 2 images using block matching algorithm */
- CVAPI(void) cvCalcOpticalFlowBM( const CvArr* prev, const CvArr* curr,
- CvSize block_size, CvSize shift_size,
- CvSize max_range, int use_previous,
- CvArr* velx, CvArr* vely );
- /* Calculates Optical flow for 2 images using Horn & Schunck algorithm */
- CVAPI(void) cvCalcOpticalFlowHS( const CvArr* prev, const CvArr* curr,
- int use_previous, CvArr* velx, CvArr* vely,
- double lambda, CvTermCriteria criteria );
- #define CV_LKFLOW_PYR_A_READY 1
- #define CV_LKFLOW_PYR_B_READY 2
- #define CV_LKFLOW_INITIAL_GUESSES 4
- #define CV_LKFLOW_GET_MIN_EIGENVALS 8
- /* It is Lucas & Kanade method, modified to use pyramids.
- Also it does several iterations to get optical flow for
- every point at every pyramid level.
- Calculates optical flow between two images for certain set of points (i.e.
- it is a "sparse" optical flow, which is opposite to the previous 3 methods) */
- CVAPI(void) cvCalcOpticalFlowPyrLK( const CvArr* prev, const CvArr* curr,
- CvArr* prev_pyr, CvArr* curr_pyr,
- const CvPoint2D32f* prev_features,
- CvPoint2D32f* curr_features,
- int count,
- CvSize win_size,
- int level,
- char* status,
- float* track_error,
- CvTermCriteria criteria,
- int flags );
- /* Modification of a previous sparse optical flow algorithm to calculate
- affine flow */
- CVAPI(void) cvCalcAffineFlowPyrLK( const CvArr* prev, const CvArr* curr,
- CvArr* prev_pyr, CvArr* curr_pyr,
- const CvPoint2D32f* prev_features,
- CvPoint2D32f* curr_features,
- float* matrices, int count,
- CvSize win_size, int level,
- char* status, float* track_error,
- CvTermCriteria criteria, int flags );
- /* Estimate rigid transformation between 2 images or 2 point sets */
- CVAPI(int) cvEstimateRigidTransform( const CvArr* A, const CvArr* B,
- CvMat* M, int full_affine );
- /********************************* motion templates *************************************/
- /****************************************************************************************
- * All the motion template functions work only with single channel images. *
- * Silhouette image must have depth IPL_DEPTH_8U or IPL_DEPTH_8S *
- * Motion history image must have depth IPL_DEPTH_32F, *
- * Gradient mask - IPL_DEPTH_8U or IPL_DEPTH_8S, *
- * Motion orientation image - IPL_DEPTH_32F *
- * Segmentation mask - IPL_DEPTH_32F *
- * All the angles are in degrees, all the times are in milliseconds *
- ****************************************************************************************/
- /* Updates motion history image given motion silhouette */
- CVAPI(void) cvUpdateMotionHistory( const CvArr* silhouette, CvArr* mhi,
- double timestamp, double duration );
- /* Calculates gradient of the motion history image and fills
- a mask indicating where the gradient is valid */
- CVAPI(void) cvCalcMotionGradient( const CvArr* mhi, CvArr* mask, CvArr* orientation,
- double delta1, double delta2,
- int aperture_size CV_DEFAULT(3));
- /* Calculates average motion direction within a selected motion region
- (region can be selected by setting ROIs and/or by composing a valid gradient mask
- with the region mask) */
- CVAPI(double) cvCalcGlobalOrientation( const CvArr* orientation, const CvArr* mask,
- const CvArr* mhi, double timestamp,
- double duration );
- /* Splits a motion history image into a few parts corresponding to separate independent motions
- (e.g. left hand, right hand) */
- CVAPI(CvSeq*) cvSegmentMotion( const CvArr* mhi, CvArr* seg_mask,
- CvMemStorage* storage,
- double timestamp, double seg_thresh );
- /*********************** Background statistics accumulation *****************************/
- /* Adds image to accumulator */
- CVAPI(void) cvAcc( const CvArr* image, CvArr* sum,
- const CvArr* mask CV_DEFAULT(NULL) );
- /* Adds squared image to accumulator */
- CVAPI(void) cvSquareAcc( const CvArr* image, CvArr* sqsum,
- const CvArr* mask CV_DEFAULT(NULL) );
- /* Adds a product of two images to accumulator */
- CVAPI(void) cvMultiplyAcc( const CvArr* image1, const CvArr* image2, CvArr* acc,
- const CvArr* mask CV_DEFAULT(NULL) );
- /* Adds image to accumulator with weights: acc = acc*(1-alpha) + image*alpha */
- CVAPI(void) cvRunningAvg( const CvArr* image, CvArr* acc, double alpha,
- const CvArr* mask CV_DEFAULT(NULL) );
- /****************************************************************************************
- * Tracking *
- ****************************************************************************************/
- /* Implements CAMSHIFT algorithm - determines object position, size and orientation
- from the object histogram back project (extension of meanshift) */
- CVAPI(int) cvCamShift( const CvArr* prob_image, CvRect window,
- CvTermCriteria criteria, CvConnectedComp* comp,
- CvBox2D* box CV_DEFAULT(NULL) );
- /* Implements MeanShift algorithm - determines object position
- from the object histogram back project */
- CVAPI(int) cvMeanShift( const CvArr* prob_image, CvRect window,
- CvTermCriteria criteria, CvConnectedComp* comp );
- /* Creates ConDensation filter state */
- CVAPI(CvConDensation*) cvCreateConDensation( int dynam_params,
- int measure_params,
- int sample_count );
- /* Releases ConDensation filter state */
- CVAPI(void) cvReleaseConDensation( CvConDensation** condens );
- /* Updates ConDensation filter by time (predict future state of the system) */
- CVAPI(void) cvConDensUpdateByTime( CvConDensation* condens);
- /* Initializes ConDensation filter samples */
- CVAPI(void) cvConDensInitSampleSet( CvConDensation* condens, CvMat* lower_bound, CvMat* upper_bound );
- /* Creates Kalman filter and sets A, B, Q, R and state to some initial values */
- CVAPI(CvKalman*) cvCreateKalman( int dynam_params, int measure_params,
- int control_params CV_DEFAULT(0));
- /* Releases Kalman filter state */
- CVAPI(void) cvReleaseKalman( CvKalman** kalman);
- /* Updates Kalman filter by time (predicts future state of the system) */
- CVAPI(const CvMat*) cvKalmanPredict( CvKalman* kalman,
- const CvMat* control CV_DEFAULT(NULL));
- /* Updates Kalman filter by measurement
- (corrects state of the system and internal matrices) */
- CVAPI(const CvMat*) cvKalmanCorrect( CvKalman* kalman, const CvMat* measurement );
- /****************************************************************************************
- * Planar subdivisions *
- ****************************************************************************************/
- /* Initializes Delaunay triangulation */
- CVAPI(void) cvInitSubdivDelaunay2D( CvSubdiv2D* subdiv, CvRect rect );
- /* Creates new subdivision */
- CVAPI(CvSubdiv2D*) cvCreateSubdiv2D( int subdiv_type, int header_size,
- int vtx_size, int quadedge_size,
- CvMemStorage* storage );
- /************************* high-level subdivision functions ***************************/
- /* Simplified Delaunay diagram creation */
- CV_INLINE CvSubdiv2D* cvCreateSubdivDelaunay2D( CvRect rect, CvMemStorage* storage )
- {
- CvSubdiv2D* subdiv = cvCreateSubdiv2D( CV_SEQ_KIND_SUBDIV2D, sizeof(*subdiv),
- sizeof(CvSubdiv2DPoint), sizeof(CvQuadEdge2D), storage );
- cvInitSubdivDelaunay2D( subdiv, rect );
- return subdiv;
- }
- /* Inserts new point to the Delaunay triangulation */
- CVAPI(CvSubdiv2DPoint*) cvSubdivDelaunay2DInsert( CvSubdiv2D* subdiv, CvPoint2D32f pt);
- /* Locates a point within the Delaunay triangulation (finds the edge
- the point is left to or belongs to, or the triangulation point the given
- point coinsides with */
- CVAPI(CvSubdiv2DPointLocation) cvSubdiv2DLocate(
- CvSubdiv2D* subdiv, CvPoint2D32f pt,
- CvSubdiv2DEdge* edge,
- CvSubdiv2DPoint** vertex CV_DEFAULT(NULL) );
- /* Calculates Voronoi tesselation (i.e. coordinates of Voronoi points) */
- CVAPI(void) cvCalcSubdivVoronoi2D( CvSubdiv2D* subdiv );
- /* Removes all Voronoi points from the tesselation */
- CVAPI(void) cvClearSubdivVoronoi2D( CvSubdiv2D* subdiv );
- /* Finds the nearest to the given point vertex in subdivision. */
- CVAPI(CvSubdiv2DPoint*) cvFindNearestPoint2D( CvSubdiv2D* subdiv, CvPoint2D32f pt );
- /************ Basic quad-edge navigation and operations ************/
- CV_INLINE CvSubdiv2DEdge cvSubdiv2DNextEdge( CvSubdiv2DEdge edge )
- {
- return CV_SUBDIV2D_NEXT_EDGE(edge);
- }
- CV_INLINE CvSubdiv2DEdge cvSubdiv2DRotateEdge( CvSubdiv2DEdge edge, int rotate )
- {
- return (edge & ~3) + ((edge + rotate) & 3);
- }
- CV_INLINE CvSubdiv2DEdge cvSubdiv2DSymEdge( CvSubdiv2DEdge edge )
- {
- return edge ^ 2;
- }
- CV_INLINE CvSubdiv2DEdge cvSubdiv2DGetEdge( CvSubdiv2DEdge edge, CvNextEdgeType type )
- {
- CvQuadEdge2D* e = (CvQuadEdge2D*)(edge & ~3);
- edge = e->next[(edge + (int)type) & 3];
- return (edge & ~3) + ((edge + ((int)type >> 4)) & 3);
- }
- CV_INLINE CvSubdiv2DPoint* cvSubdiv2DEdgeOrg( CvSubdiv2DEdge edge )
- {
- CvQuadEdge2D* e = (CvQuadEdge2D*)(edge & ~3);
- return (CvSubdiv2DPoint*)e->pt[edge & 3];
- }
- CV_INLINE CvSubdiv2DPoint* cvSubdiv2DEdgeDst( CvSubdiv2DEdge edge )
- {
- CvQuadEdge2D* e = (CvQuadEdge2D*)(edge & ~3);
- return (CvSubdiv2DPoint*)e->pt[(edge + 2) & 3];
- }
- CV_INLINE double cvTriangleArea( CvPoint2D32f a, CvPoint2D32f b, CvPoint2D32f c )
- {
- return (b.x - a.x) * (c.y - a.y) - (b.y - a.y) * (c.x - a.x);
- }
- /****************************************************************************************
- * Contour Processing and Shape Analysis *
- ****************************************************************************************/
- #define CV_POLY_APPROX_DP 0
- /* Approximates a single polygonal curve (contour) or
- a tree of polygonal curves (contours) */
- CVAPI(CvSeq*) cvApproxPoly( const void* src_seq,
- int header_size, CvMemStorage* storage,
- int method, double parameter,
- int parameter2 CV_DEFAULT(0));
- #define CV_DOMINANT_IPAN 1
- /* Finds high-curvature points of the contour */
- CVAPI(CvSeq*) cvFindDominantPoints( CvSeq* contour, CvMemStorage* storage,
- int method CV_DEFAULT(CV_DOMINANT_IPAN),
- double parameter1 CV_DEFAULT(0),
- double parameter2 CV_DEFAULT(0),
- double parameter3 CV_DEFAULT(0),
- double parameter4 CV_DEFAULT(0));
- /* Calculates perimeter of a contour or length of a part of contour */
- CVAPI(double) cvArcLength( const void* curve,
- CvSlice slice CV_DEFAULT(CV_WHOLE_SEQ),
- int is_closed CV_DEFAULT(-1));
- #define cvContourPerimeter( contour ) cvArcLength( contour, CV_WHOLE_SEQ, 1 )
- /* Calculates contour boundning rectangle (update=1) or
- just retrieves pre-calculated rectangle (update=0) */
- CVAPI(CvRect) cvBoundingRect( CvArr* points, int update CV_DEFAULT(0) );
- /* Calculates area of a contour or contour segment */
- CVAPI(double) cvContourArea( const CvArr* contour,
- CvSlice slice CV_DEFAULT(CV_WHOLE_SEQ));
- /* Finds minimum area rotated rectangle bounding a set of points */
- CVAPI(CvBox2D) cvMinAreaRect2( const CvArr* points,
- CvMemStorage* storage CV_DEFAULT(NULL));
- /* Finds minimum enclosing circle for a set of points */
- CVAPI(int) cvMinEnclosingCircle( const CvArr* points,
- CvPoint2D32f* center, float* radius );
- #define CV_CONTOURS_MATCH_I1 1
- #define CV_CONTOURS_MATCH_I2 2
- #define CV_CONTOURS_MATCH_I3 3
- /* Compares two contours by matching their moments */
- CVAPI(double) cvMatchShapes( const void* object1, const void* object2,
- int method, double parameter CV_DEFAULT(0));
- /* Builds hierarhical representation of a contour */
- CVAPI(CvContourTree*) cvCreateContourTree( const CvSeq* contour,
- CvMemStorage* storage,
- double threshold );
- /* Reconstruct (completelly or partially) contour a from contour tree */
- CVAPI(CvSeq*) cvContourFromContourTree( const CvContourTree* tree,
- CvMemStorage* storage,
- CvTermCriteria criteria );
- /* Compares two contour trees */
- #define CV_CONTOUR_TREES_MATCH_I1 1
- CVAPI(double) cvMatchContourTrees( const CvContourTree* tree1,
- const CvContourTree* tree2,
- int method, double threshold );
- /* Calculates histogram of a contour */
- CVAPI(void) cvCalcPGH( const CvSeq* contour, CvHistogram* hist );
- #define CV_CLOCKWISE 1
- #define CV_COUNTER_CLOCKWISE 2
- /* Calculates exact convex hull of 2d point set */
- CVAPI(CvSeq*) cvConvexHull2( const CvArr* input,
- void* hull_storage CV_DEFAULT(NULL),
- int orientation CV_DEFAULT(CV_CLOCKWISE),
- int return_points CV_DEFAULT(0));
- /* Checks whether the contour is convex or not (returns 1 if convex, 0 if not) */
- CVAPI(int) cvCheckContourConvexity( const CvArr* contour );
- /* Finds convexity defects for the contour */
- CVAPI(CvSeq*) cvConvexityDefects( const CvArr* contour, const CvArr* convexhull,
- CvMemStorage* storage CV_DEFAULT(NULL));
- /* Fits ellipse into a set of 2d points */
- CVAPI(CvBox2D) cvFitEllipse2( const CvArr* points );
- /* Finds minimum rectangle containing two given rectangles */
- CVAPI(CvRect) cvMaxRect( const CvRect* rect1, const CvRect* rect2 );
- /* Finds coordinates of the box vertices */
- CVAPI(void) cvBoxPoints( CvBox2D box, CvPoint2D32f pt[4] );
- /* Initializes sequence header for a matrix (column or row vector) of points -
- a wrapper for cvMakeSeqHeaderForArray (it does not initialize bounding rectangle!!!) */
- CVAPI(CvSeq*) cvPointSeqFromMat( int seq_kind, const CvArr* mat,
- CvContour* contour_header,
- CvSeqBlock* block );
- /* Checks whether the point is inside polygon, outside, on an edge (at a vertex).
- Returns positive, negative or zero value, correspondingly.
- Optionally, measures a signed distance between
- the point and the nearest polygon edge (measure_dist=1) */
- CVAPI(double) cvPointPolygonTest( const CvArr* contour,
- CvPoint2D32f pt, int measure_dist );
- /****************************************************************************************
- * Histogram functions *
- ****************************************************************************************/
- /* Creates new histogram */
- CVAPI(CvHistogram*) cvCreateHist( int dims, int* sizes, int type,
- float** ranges CV_DEFAULT(NULL),
- int uniform CV_DEFAULT(1));
- /* Assignes histogram bin ranges */
- CVAPI(void) cvSetHistBinRanges( CvHistogram* hist, float** ranges,
- int uniform CV_DEFAULT(1));
- /* Creates histogram header for array */
- CVAPI(CvHistogram*) cvMakeHistHeaderForArray(
- int dims, int* sizes, CvHistogram* hist,
- float* data, float** ranges CV_DEFAULT(NULL),
- int uniform CV_DEFAULT(1));
- /* Releases histogram */
- CVAPI(void) cvReleaseHist( CvHistogram** hist );
- /* Clears all the histogram bins */
- CVAPI(void) cvClearHist( CvHistogram* hist );
- /* Finds indices and values of minimum and maximum histogram bins */
- CVAPI(void) cvGetMinMaxHistValue( const CvHistogram* hist,
- float* min_value, float* max_value,
- int* min_idx CV_DEFAULT(NULL),
- int* max_idx CV_DEFAULT(NULL));
- /* Normalizes histogram by dividing all bins by sum of the bins, multiplied by <factor>.
- After that sum of histogram bins is equal to <factor> */
- CVAPI(void) cvNormalizeHist( CvHistogram* hist, double factor );
- /* Clear all histogram bins that are below the threshold */
- CVAPI(void) cvThreshHist( CvHistogram* hist, double threshold );
- #define CV_COMP_CORREL 0
- #define CV_COMP_CHISQR 1
- #define CV_COMP_INTERSECT 2
- #define CV_COMP_BHATTACHARYYA 3
- /* Compares two histogram */
- CVAPI(double) cvCompareHist( const CvHistogram* hist1,
- const CvHistogram* hist2,
- int method);
- /* Copies one histogram to another. Destination histogram is created if
- the destination pointer is NULL */
- CVAPI(void) cvCopyHist( const CvHistogram* src, CvHistogram** dst );
- /* Calculates bayesian probabilistic histograms
- (each or src and dst is an array of <number> histograms */
- CVAPI(void) cvCalcBayesianProb( CvHistogram** src, int number,
- CvHistogram** dst);
- /* Calculates array histogram */
- CVAPI(void) cvCalcArrHist( CvArr** arr, CvHistogram* hist,
- int accumulate CV_DEFAULT(0),
- const CvArr* mask CV_DEFAULT(NULL) );
- CV_INLINE void cvCalcHist( IplImage** image, CvHistogram* hist,
- int accumulate CV_DEFAULT(0),
- const CvArr* mask CV_DEFAULT(NULL) )
- {
- cvCalcArrHist( (CvArr**)image, hist, accumulate, mask );
- }
- /* Calculates back project */
- CVAPI(void) cvCalcArrBackProject( CvArr** image, CvArr* dst,
- const CvHistogram* hist );
- #define cvCalcBackProject(image, dst, hist) cvCalcArrBackProject((CvArr**)image, dst, hist)
- /* Does some sort of template matching but compares histograms of
- template and each window location */
- CVAPI(void) cvCalcArrBackProjectPatch( CvArr** image, CvArr* dst, CvSize range,
- CvHistogram* hist, int method,
- double factor );
- #define cvCalcBackProjectPatch( image, dst, range, hist, method, factor )
- cvCalcArrBackProjectPatch( (CvArr**)image, dst, range, hist, method, factor )
- /* calculates probabilistic density (divides one histogram by another) */
- CVAPI(void) cvCalcProbDensity( const CvHistogram* hist1, const CvHistogram* hist2,
- CvHistogram* dst_hist, double scale CV_DEFAULT(255) );
- /* equalizes histogram of 8-bit single-channel image */
- CVAPI(void) cvEqualizeHist( const CvArr* src, CvArr* dst );
- #define CV_VALUE 1
- #define CV_ARRAY 2
- /* Updates active contour in order to minimize its cummulative
- (internal and external) energy. */
- CVAPI(void) cvSnakeImage( const IplImage* image, CvPoint* points,
- int length, float* alpha,
- float* beta, float* gamma,
- int coeff_usage, CvSize win,
- CvTermCriteria criteria, int calc_gradient CV_DEFAULT(1));
- /* Calculates the cooficients of the homography matrix */
- CVAPI(void) cvCalcImageHomography( float* line, CvPoint3D32f* center,
- float* intrinsic, float* homography );
- #define CV_DIST_MASK_3 3
- #define CV_DIST_MASK_5 5
- #define CV_DIST_MASK_PRECISE 0
- /* Applies distance transform to binary image */
- CVAPI(void) cvDistTransform( const CvArr* src, CvArr* dst,
- int distance_type CV_DEFAULT(CV_DIST_L2),
- int mask_size CV_DEFAULT(3),
- const float* mask CV_DEFAULT(NULL),
- CvArr* labels CV_DEFAULT(NULL));
- /* Types of thresholding */
- #define CV_THRESH_BINARY 0 /* value = value > threshold ? max_value : 0 */
- #define CV_THRESH_BINARY_INV 1 /* value = value > threshold ? 0 : max_value */
- #define CV_THRESH_TRUNC 2 /* value = value > threshold ? threshold : value */
- #define CV_THRESH_TOZERO 3 /* value = value > threshold ? value : 0 */
- #define CV_THRESH_TOZERO_INV 4 /* value = value > threshold ? 0 : value */
- #define CV_THRESH_MASK 7
- #define CV_THRESH_OTSU 8 /* use Otsu algorithm to choose the optimal threshold value;
- combine the flag with one of the above CV_THRESH_* values */
- /* Applies fixed-level threshold to grayscale image.
- This is a basic operation applied before retrieving contours */
- CVAPI(double) cvThreshold( const CvArr* src, CvArr* dst,
- double threshold, double max_value,
- int threshold_type );
- #define CV_ADAPTIVE_THRESH_MEAN_C 0
- #define CV_ADAPTIVE_THRESH_GAUSSIAN_C 1
- /* Applies adaptive threshold to grayscale image.
- The two parameters for methods CV_ADAPTIVE_THRESH_MEAN_C and
- CV_ADAPTIVE_THRESH_GAUSSIAN_C are:
- neighborhood size (3, 5, 7 etc.),
- and a constant subtracted from mean (...,-3,-2,-1,0,1,2,3,...) */
- CVAPI(void) cvAdaptiveThreshold( const CvArr* src, CvArr* dst, double max_value,
- int adaptive_method CV_DEFAULT(CV_ADAPTIVE_THRESH_MEAN_C),
- int threshold_type CV_DEFAULT(CV_THRESH_BINARY),
- int block_size CV_DEFAULT(3),
- double param1 CV_DEFAULT(5));
- #define CV_FLOODFILL_FIXED_RANGE (1 << 16)
- #define CV_FLOODFILL_MASK_ONLY (1 << 17)
- /* Fills the connected component until the color difference gets large enough */
- CVAPI(void) cvFloodFill( CvArr* image, CvPoint seed_point,
- CvScalar new_val, CvScalar lo_diff CV_DEFAULT(cvScalarAll(0)),
- CvScalar up_diff CV_DEFAULT(cvScalarAll(0)),
- CvConnectedComp* comp CV_DEFAULT(NULL),
- int flags CV_DEFAULT(4),
- CvArr* mask CV_DEFAULT(NULL));
- /****************************************************************************************
- * Feature detection *
- ****************************************************************************************/
- #define CV_CANNY_L2_GRADIENT (1 << 31)
- /* Runs canny edge detector */
- CVAPI(void) cvCanny( const CvArr* image, CvArr* edges, double threshold1,
- double threshold2, int aperture_size CV_DEFAULT(3) );
- /* Calculates constraint image for corner detection
- Dx^2 * Dyy + Dxx * Dy^2 - 2 * Dx * Dy * Dxy.
- Applying threshold to the result gives coordinates of corners */
- CVAPI(void) cvPreCornerDetect( const CvArr* image, CvArr* corners,
- int aperture_size CV_DEFAULT(3) );
- /* Calculates eigen values and vectors of 2x2
- gradient covariation matrix at every image pixel */
- CVAPI(void) cvCornerEigenValsAndVecs( const CvArr* image, CvArr* eigenvv,
- int block_size, int aperture_size CV_DEFAULT(3) );
- /* Calculates minimal eigenvalue for 2x2 gradient covariation matrix at
- every image pixel */
- CVAPI(void) cvCornerMinEigenVal( const CvArr* image, CvArr* eigenval,
- int block_size, int aperture_size CV_DEFAULT(3) );
- /* Harris corner detector:
- Calculates det(M) - k*(trace(M)^2), where M is 2x2 gradient covariation matrix for each pixel */
- CVAPI(void) cvCornerHarris( const CvArr* image, CvArr* harris_responce,
- int block_size, int aperture_size CV_DEFAULT(3),
- double k CV_DEFAULT(0.04) );
- /* Adjust corner position using some sort of gradient search */
- CVAPI(void) cvFindCornerSubPix( const CvArr* image, CvPoint2D32f* corners,
- int count, CvSize win, CvSize zero_zone,
- CvTermCriteria criteria );
- /* Finds a sparse set of points within the selected region
- that seem to be easy to track */
- CVAPI(void) cvGoodFeaturesToTrack( const CvArr* image, CvArr* eig_image,
- CvArr* temp_image, CvPoint2D32f* corners,
- int* corner_count, double quality_level,
- double min_distance,
- const CvArr* mask CV_DEFAULT(NULL),
- int block_size CV_DEFAULT(3),
- int use_harris CV_DEFAULT(0),
- double k CV_DEFAULT(0.04) );
- #define CV_HOUGH_STANDARD 0
- #define CV_HOUGH_PROBABILISTIC 1
- #define CV_HOUGH_MULTI_SCALE 2
- #define CV_HOUGH_GRADIENT 3
- /* Finds lines on binary image using one of several methods.
- line_storage is either memory storage or 1 x <max number of lines> CvMat, its
- number of columns is changed by the function.
- method is one of CV_HOUGH_*;
- rho, theta and threshold are used for each of those methods;
- param1 ~ line length, param2 ~ line gap - for probabilistic,
- param1 ~ srn, param2 ~ stn - for multi-scale */
- CVAPI(CvSeq*) cvHoughLines2( CvArr* image, void* line_storage, int method,
- double rho, double theta, int threshold,
- double param1 CV_DEFAULT(0), double param2 CV_DEFAULT(0));
- /* Finds circles in the image */
- CVAPI(CvSeq*) cvHoughCircles( CvArr* image, void* circle_storage,
- int method, double dp, double min_dist,
- double param1 CV_DEFAULT(100),
- double param2 CV_DEFAULT(100),
- int min_radius CV_DEFAULT(0),
- int max_radius CV_DEFAULT(0));
- /* Fits a line into set of 2d or 3d points in a robust way (M-estimator technique) */
- CVAPI(void) cvFitLine( const CvArr* points, int dist_type, double param,
- double reps, double aeps, float* line );
- struct CvFeatureTree;
- /* Constructs kd-tree from set of feature descriptors */
- CVAPI(struct CvFeatureTree*) cvCreateKDTree(CvMat* desc);
- /* Constructs spill-tree from set of feature descriptors */
- CVAPI(struct CvFeatureTree*) cvCreateSpillTree( const CvMat* raw_data,
- const int naive CV_DEFAULT(50),
- const double rho CV_DEFAULT(.7),
- const double tau CV_DEFAULT(.1) );
- /* Release feature tree */
- CVAPI(void) cvReleaseFeatureTree(struct CvFeatureTree* tr);
- /* Searches feature tree for k nearest neighbors of given reference points,
- searching (in case of kd-tree/bbf) at most emax leaves. */
- CVAPI(void) cvFindFeatures(struct CvFeatureTree* tr, const CvMat* query_points,
- CvMat* indices, CvMat* dist, int k, int emax CV_DEFAULT(20));
- /* Search feature tree for all points that are inlier to given rect region.
- Only implemented for kd trees */
- CVAPI(int) cvFindFeaturesBoxed(struct CvFeatureTree* tr,
- CvMat* bounds_min, CvMat* bounds_max,
- CvMat* out_indices);
- struct CvLSH;
- struct CvLSHOperations;
- /* Construct a Locality Sensitive Hash (LSH) table, for indexing d-dimensional vectors of
- given type. Vectors will be hashed L times with k-dimensional p-stable (p=2) functions. */
- CVAPI(struct CvLSH*) cvCreateLSH(struct CvLSHOperations* ops, int d,
- int L CV_DEFAULT(10), int k CV_DEFAULT(10),
- int type CV_DEFAULT(CV_64FC1), double r CV_DEFAULT(4),
- int64 seed CV_DEFAULT(-1));
- /* Construct in-memory LSH table, with n bins. */
- CVAPI(struct CvLSH*) cvCreateMemoryLSH(int d, int n, int L CV_DEFAULT(10), int k CV_DEFAULT(10),
- int type CV_DEFAULT(CV_64FC1), double r CV_DEFAULT(4),
- int64 seed CV_DEFAULT(-1));
- /* Free the given LSH structure. */
- CVAPI(void) cvReleaseLSH(struct CvLSH** lsh);
- /* Return the number of vectors in the LSH. */
- CVAPI(unsigned int) LSHSize(struct CvLSH* lsh);
- /* Add vectors to the LSH structure, optionally returning indices. */
- CVAPI(void) cvLSHAdd(struct CvLSH* lsh, const CvMat* data, CvMat* indices CV_DEFAULT(0));
- /* Remove vectors from LSH, as addressed by given indices. */
- CVAPI(void) cvLSHRemove(struct CvLSH* lsh, const CvMat* indices);
- /* Query the LSH n times for at most k nearest points; data is n x d,
- indices and dist are n x k. At most emax stored points will be accessed. */
- CVAPI(void) cvLSHQuery(struct CvLSH* lsh, const CvMat* query_points,
- CvMat* indices, CvMat* dist, int k, int emax);
- typedef struct CvSURFPoint
- {
- CvPoint2D32f pt;
- int laplacian;
- int size;
- float dir;
- float hessian;
- } CvSURFPoint;
- CV_INLINE CvSURFPoint cvSURFPoint( CvPoint2D32f pt, int laplacian,
- int size, float dir CV_DEFAULT(0),
- float hessian CV_DEFAULT(0))
- {
- CvSURFPoint kp;
- kp.pt = pt;
- kp.laplacian = laplacian;
- kp.size = size;
- kp.dir = dir;
- kp.hessian = hessian;
- return kp;
- }
- typedef struct CvSURFParams
- {
- int extended;
- double hessianThreshold;
- int nOctaves;
- int nOctaveLayers;
- }
- CvSURFParams;
- CVAPI(CvSURFParams) cvSURFParams( double hessianThreshold, int extended CV_DEFAULT(0) );
- // If useProvidedKeyPts!=0, keypoints are not detected, but descriptors are computed
- // at the locations provided in keypoints (a CvSeq of CvSURFPoint).
- CVAPI(void) cvExtractSURF( const CvArr* img, const CvArr* mask,
- CvSeq** keypoints, CvSeq** descriptors,
- CvMemStorage* storage, CvSURFParams params, int useProvidedKeyPts CV_DEFAULT(0) );
- typedef struct CvMSERParams
- {
- // delta, in the code, it compares (size_{i}-size_{i-delta})/size_{i-delta}
- int delta;
- // prune the area which bigger/smaller than max_area/min_area
- int maxArea;
- int minArea;
- // prune the area have simliar size to its children
- float maxVariation;
- // trace back to cut off mser with diversity < min_diversity
- float minDiversity;
- /* the next few params for MSER of color image */
- // for color image, the evolution steps
- int maxEvolution;
- // the area threshold to cause re-initialize
- double areaThreshold;
- // ignore too small margin
- double minMargin;
- // the aperture size for edge blur
- int edgeBlurSize;
- }
- CvMSERParams;
- CVAPI(CvMSERParams) cvMSERParams( int delta CV_DEFAULT(5), int min_area CV_DEFAULT(60),
- int max_area CV_DEFAULT(14400), float max_variation CV_DEFAULT(.25f),
- float min_diversity CV_DEFAULT(.2f), int max_evolution CV_DEFAULT(200),
- double area_threshold CV_DEFAULT(1.01),
- double min_margin CV_DEFAULT(.003),
- int edge_blur_size CV_DEFAULT(5) );
- // Extracts the contours of Maximally Stable Extremal Regions
- CVAPI(void) cvExtractMSER( CvArr* _img, CvArr* _mask, CvSeq** contours, CvMemStorage* storage, CvMSERParams params );
- typedef struct CvStarKeypoint
- {
- CvPoint pt;
- int size;
- float response;
- }
- CvStarKeypoint;
- CV_INLINE CvStarKeypoint cvStarKeypoint(CvPoint pt, int size, float response)
- {
- CvStarKeypoint kpt;
- kpt.pt = pt;
- kpt.size = size;
- kpt.response = response;
- return kpt;
- }
- typedef struct CvStarDetectorParams
- {
- int maxSize;
- int responseThreshold;
- int lineThresholdProjected;
- int lineThresholdBinarized;
- int suppressNonmaxSize;
- }
- CvStarDetectorParams;
- CV_INLINE CvStarDetectorParams cvStarDetectorParams(
- int maxSize CV_DEFAULT(45),
- int responseThreshold CV_DEFAULT(30),
- int lineThresholdProjected CV_DEFAULT(10),
- int lineThresholdBinarized CV_DEFAULT(8),
- int suppressNonmaxSize CV_DEFAULT(5))
- {
- CvStarDetectorParams params;
- params.maxSize = maxSize;
- params.responseThreshold = responseThreshold;
- params.lineThresholdProjected = lineThresholdProjected;
- params.lineThresholdBinarized = lineThresholdBinarized;
- params.suppressNonmaxSize = suppressNonmaxSize;
- return params;
- }
- CVAPI(CvSeq*) cvGetStarKeypoints( const CvArr* img, CvMemStorage* storage,
- CvStarDetectorParams params CV_DEFAULT(cvStarDetectorParams()));
- /****************************************************************************************
- * Haar-like Object Detection functions *
- ****************************************************************************************/
- /* Loads haar classifier cascade from a directory.
- It is obsolete: convert your cascade to xml and use cvLoad instead */
- CVAPI(CvHaarClassifierCascade*) cvLoadHaarClassifierCascade(
- const char* directory, CvSize orig_window_size);
- CVAPI(void) cvReleaseHaarClassifierCascade( CvHaarClassifierCascade** cascade );
- #define CV_HAAR_DO_CANNY_PRUNING 1
- #define CV_HAAR_SCALE_IMAGE 2
- #define CV_HAAR_FIND_BIGGEST_OBJECT 4
- #define CV_HAAR_DO_ROUGH_SEARCH 8
- CVAPI(CvSeq*) cvHaarDetectObjects( const CvArr* image,
- CvHaarClassifierCascade* cascade,
- CvMemStorage* storage, double scale_factor CV_DEFAULT(1.1),
- int min_neighbors CV_DEFAULT(3), int flags CV_DEFAULT(0),
- CvSize min_size CV_DEFAULT(cvSize(0,0)));
- /* sets images for haar classifier cascade */
- CVAPI(void) cvSetImagesForHaarClassifierCascade( CvHaarClassifierCascade* cascade,
- const CvArr* sum, const CvArr* sqsum,
- const CvArr* tilted_sum, double scale );
- /* runs the cascade on the specified window */
- CVAPI(int) cvRunHaarClassifierCascade( const CvHaarClassifierCascade* cascade,
- CvPoint pt, int start_stage CV_DEFAULT(0));
- /****************************************************************************************
- * Camera Calibration, Pose Estimation and Stereo *
- ****************************************************************************************/
- /* Transforms the input image to compensate lens distortion */
- CVAPI(void) cvUndistort2( const CvArr* src, CvArr* dst,
- const CvMat* camera_matrix,
- const CvMat* distortion_coeffs );
- /* Computes transformation map from intrinsic camera parameters
- that can used by cvRemap */
- CVAPI(void) cvInitUndistortMap( const CvMat* camera_matrix,
- const CvMat* distortion_coeffs,
- CvArr* mapx, CvArr* mapy );
- /* Computes undistortion+rectification map for a head of stereo camera */
- CVAPI(void) cvInitUndistortRectifyMap( const CvMat* camera_matrix,
- const CvMat* dist_coeffs,
- const CvMat *R, const CvMat* new_camera_matrix,
- CvArr* mapx, CvArr* mapy );
- /* Computes the original (undistorted) feature coordinates
- from the observed (distorted) coordinates */
- CVAPI(void) cvUndistortPoints( const CvMat* src, CvMat* dst,
- const CvMat* camera_matrix,
- const CvMat* dist_coeffs,
- const CvMat* R CV_DEFAULT(0),
- const CvMat* P CV_DEFAULT(0));
- /* Converts rotation vector to rotation matrix or vice versa */
- CVAPI(int) cvRodrigues2( const CvMat* src, CvMat* dst,
- CvMat* jacobian CV_DEFAULT(0) );
- #define CV_LMEDS 4
- #define CV_RANSAC 8
- /* Finds perspective transformation between the object plane and image (view) plane */
- CVAPI(int) cvFindHomography( const CvMat* src_points,
- const CvMat* dst_points,
- CvMat* homography,
- int method CV_DEFAULT(0),
- double ransacReprojThreshold CV_DEFAULT(0),
- CvMat* mask CV_DEFAULT(0));
- /* Computes RQ decomposition for 3x3 matrices */
- CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ,
- CvMat *matrixQx CV_DEFAULT(NULL),
- CvMat *matrixQy CV_DEFAULT(NULL),
- CvMat *matrixQz CV_DEFAULT(NULL),
- CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
- /* Computes projection matrix decomposition */
- CVAPI(void) cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr,
- CvMat *rotMatr, CvMat *posVect,
- CvMat *rotMatrX CV_DEFAULT(NULL),
- CvMat *rotMatrY CV_DEFAULT(NULL),
- CvMat *rotMatrZ CV_DEFAULT(NULL),
- CvPoint3D64f *eulerAngles CV_DEFAULT(NULL));
- /* Computes d(AB)/dA and d(AB)/dB */
- CVAPI(void) cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB );
- /* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)),
- t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */
- CVAPI(void) cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1,
- const CvMat* _rvec2, const CvMat* _tvec2,
- CvMat* _rvec3, CvMat* _tvec3,
- CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0),
- CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0),
- CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0),
- CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) );
- /* Projects object points to the view plane using
- the specified extrinsic and intrinsic camera parameters */
- CVAPI(void) cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector,
- const CvMat* translation_vector, const CvMat* camera_matrix,
- const CvMat* distortion_coeffs, CvMat* image_points,
- CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL),
- CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL),
- CvMat* dpddist CV_DEFAULT(NULL),
- double aspect_ratio CV_DEFAULT(0));
- /* Finds extrinsic camera parameters from
- a few known corresponding point pairs and intrinsic parameters */
- CVAPI(void) cvFindExtrinsicCameraParams2( const CvMat* object_points,
- const CvMat* image_points,
- const CvMat* camera_matrix,
- const CvMat* distortion_coeffs,
- CvMat* rotation_vector,
- CvMat* translation_vector,
- int use_extrinsic_guess CV_DEFAULT(0) );
- /* Computes initial estimate of the intrinsic camera parameters
- in case of planar calibration target (e.g. chessboard) */
- CVAPI(void) cvInitIntrinsicParams2D( const CvMat* object_points,
- const CvMat* image_points,
- const CvMat* npoints, CvSize image_size,
- CvMat* camera_matrix,
- double aspect_ratio CV_DEFAULT(1.) );
- #define CV_CALIB_CB_ADAPTIVE_THRESH 1
- #define CV_CALIB_CB_NORMALIZE_IMAGE 2
- #define CV_CALIB_CB_FILTER_QUADS 4
- /* Detects corners on a chessboard calibration pattern */
- CVAPI(int) cvFindChessboardCorners( const void* image, CvSize pattern_size,
- CvPoint2D32f* corners,
- int* corner_count CV_DEFAULT(NULL),
- int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+
- CV_CALIB_CB_NORMALIZE_IMAGE) );
- /* Draws individual chessboard corners or the whole chessboard detected */
- CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size,
- CvPoint2D32f* corners,
- int count, int pattern_was_found );
- #define CV_CALIB_USE_INTRINSIC_GUESS 1
- #define CV_CALIB_FIX_ASPECT_RATIO 2
- #define CV_CALIB_FIX_PRINCIPAL_POINT 4
- #define CV_CALIB_ZERO_TANGENT_DIST 8
- #define CV_CALIB_FIX_FOCAL_LENGTH 16
- #define CV_CALIB_FIX_K1 32
- #define CV_CALIB_FIX_K2 64
- #define CV_CALIB_FIX_K3 128
- /* Finds intrinsic and extrinsic camera parameters
- from a few views of known calibration pattern */
- CVAPI(void) cvCalibrateCamera2( const CvMat* object_points,
- const CvMat* image_points,
- const CvMat* point_counts,
- CvSize image_size,
- CvMat* camera_matrix,
- CvMat* distortion_coeffs,
- CvMat* rotation_vectors CV_DEFAULT(NULL),
- CvMat* translation_vectors CV_DEFAULT(NULL),
- int flags CV_DEFAULT(0) );
- /* Computes various useful characteristics of the camera from the data computed by
- cvCalibrateCamera2 */
- CVAPI(void) cvCalibrationMatrixValues( const CvMat *camera_matrix,
- CvSize image_size,
- double aperture_width CV_DEFAULT(0),
- double aperture_height CV_DEFAULT(0),
- double *fovx CV_DEFAULT(NULL),
- double *fovy CV_DEFAULT(NULL),
- double *focal_length CV_DEFAULT(NULL),
- CvPoint2D64f *principal_point CV_DEFAULT(NULL),
- double *pixel_aspect_ratio CV_DEFAULT(NULL));
- #define CV_CALIB_FIX_INTRINSIC 256
- #define CV_CALIB_SAME_FOCAL_LENGTH 512
- /* Computes the transformation from one camera coordinate system to another one
- from a few correspondent views of the same calibration target. Optionally, calibrates
- both cameras */
- CVAPI(void) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1,
- const CvMat* image_points2, const CvMat* npoints,
- CvMat* camera_matrix1, CvMat* dist_coeffs1,
- CvMat* camera_matrix2, CvMat* dist_coeffs2,
- CvSize image_size, CvMat* R, CvMat* T,
- CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0),
- CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria(
- CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)),
- int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC) );
- #define CV_CALIB_ZERO_DISPARITY 1024
- /* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both
- views parallel (=> to make all the epipolar lines horizontal or vertical) */
- CVAPI(void) cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2,
- const CvMat* dist_coeffs1, const CvMat* dist_coeffs2,
- CvSize image_size, const CvMat* R, const CvMat* T,
- CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2,
- CvMat* Q CV_DEFAULT(0),
- int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY) );
- /* Computes rectification transformations for uncalibrated pair of images using a set
- of point correspondences */
- CVAPI(int) cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2,
- const CvMat* F, CvSize img_size,
- CvMat* H1, CvMat* H2,
- double threshold CV_DEFAULT(5));
- typedef struct CvPOSITObject CvPOSITObject;
- /* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */
- CVAPI(CvPOSITObject*) cvCreatePOSITObject( CvPoint3D32f* points, int point_count );
- /* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of
- an object given its model and projection in a weak-perspective case */
- CVAPI(void) cvPOSIT( CvPOSITObject* posit_object, CvPoint2D32f* image_points,
- double focal_length, CvTermCriteria criteria,
- CvMatr32f rotation_matrix, CvVect32f translation_vector);
- /* Releases CvPOSITObject structure */
- CVAPI(void) cvReleasePOSITObject( CvPOSITObject** posit_object );
- /* updates the number of RANSAC iterations */
- CVAPI(int) cvRANSACUpdateNumIters( double p, double err_prob,
- int model_points, int max_iters );
- CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst );
- /* Calculates fundamental matrix given a set of corresponding points */
- #define CV_FM_7POINT 1
- #define CV_FM_8POINT 2
- #define CV_FM_LMEDS_ONLY CV_LMEDS
- #define CV_FM_RANSAC_ONLY CV_RANSAC
- #define CV_FM_LMEDS CV_LMEDS
- #define CV_FM_RANSAC CV_RANSAC
- CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2,
- CvMat* fundamental_matrix,
- int method CV_DEFAULT(CV_FM_RANSAC),
- double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99),
- CvMat* status CV_DEFAULT(NULL) );
- /* For each input point on one of images
- computes parameters of the corresponding
- epipolar line on the other image */
- CVAPI(void) cvComputeCorrespondEpilines( const CvMat* points,
- int which_image,
- const CvMat* fundamental_matrix,
- CvMat* correspondent_lines );
- /* Triangulation functions */
- CVAPI(void) cvTriangulatePoints(CvMat* projMatr1, CvMat* projMatr2,
- CvMat* projPoints1, CvMat* projPoints2,
- CvMat* points4D);
- CVAPI(void) cvCorrectMatches(CvMat* F, CvMat* points1, CvMat* points2,
- CvMat* new_points1, CvMat* new_points2);
- /* stereo correspondence parameters and functions */
- #define CV_STEREO_BM_NORMALIZED_RESPONSE 0
- /* Block matching algorithm structure */
- typedef struct CvStereoBMState
- {
- // pre-filtering (normalization of input images)
- int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now
- int preFilterSize; // averaging window size: ~5x5..21x21
- int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap]
- // correspondence using Sum of Absolute Difference (SAD)
- int SADWindowSize; // ~5x5..21x21
- int minDisparity; // minimum disparity (can be negative)
- int numberOfDisparities; // maximum disparity - minimum disparity (> 0)
- // post-filtering
- int textureThreshold; // the disparity is only computed for pixels
- // with textured enough neighborhood
- int uniquenessRatio; // accept the computed disparity d* only if
- // SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.)
- // for any d != d*+/-1 within the search range.
- int speckleWindowSize; // disparity variation window
- int speckleRange; // acceptable range of variation in window
- int trySmallerWindows; // if 1, the results may be more accurate,
- // at the expense of slower processing
- // temporary buffers
- CvMat* preFilteredImg0;
- CvMat* preFilteredImg1;
- CvMat* slidingSumBuf;
- CvMat* dbmin;
- CvMat* dbmax;
- }
- CvStereoBMState;
- #define CV_STEREO_BM_BASIC 0
- #define CV_STEREO_BM_FISH_EYE 1
- #define CV_STEREO_BM_NARROW 2
- CVAPI(CvStereoBMState*) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC),
- int numberOfDisparities CV_DEFAULT(0));
- CVAPI(void) cvReleaseStereoBMState( CvStereoBMState** state );
- CVAPI(void) cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right,
- CvArr* disparity, CvStereoBMState* state );
- /* Kolmogorov-Zabin stereo-correspondence algorithm (a.k.a. KZ1) */
- #define CV_STEREO_GC_OCCLUDED SHRT_MAX
- typedef struct CvStereoGCState
- {
- int Ithreshold;
- int interactionRadius;
- float K, lambda, lambda1, lambda2;
- int occlusionCost;
- int minDisparity;
- int numberOfDisparities;
- int maxIters;
- CvMat* left;
- CvMat* right;
- CvMat* dispLeft;
- CvMat* dispRight;
- CvMat* ptrLeft;
- CvMat* ptrRight;
- CvMat* vtxBuf;
- CvMat* edgeBuf;
- }
- CvStereoGCState;
- CVAPI(CvStereoGCState*) cvCreateStereoGCState( int numberOfDisparities, int maxIters );
- CVAPI(void) cvReleaseStereoGCState( CvStereoGCState** state );
- CVAPI(void) cvFindStereoCorrespondenceGC( const CvArr* left, const CvArr* right,
- CvArr* disparityLeft, CvArr* disparityRight,
- CvStereoGCState* state,
- int useDisparityGuess CV_DEFAULT(0) );
- /* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */
- CVAPI(void) cvReprojectImageTo3D( const CvArr* disparityImage,
- CvArr* _3dImage, const CvMat* Q,
- int handleMissingValues CV_DEFAULT(0) );
- #ifdef __cplusplus
- }
- #endif
- #ifdef __cplusplus
- #ifndef SKIP_INCLUDES // for now only expose old interface to swig
- #include "cv.hpp"
- #endif // SKIP_INCLUDES
- #endif
- /****************************************************************************************
- * Backward compatibility *
- ****************************************************************************************/
- #ifndef CV_NO_BACKWARD_COMPATIBILITY
- #include "cvcompat.h"
- #endif
- #endif /*_CV_H_*/