1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // Intel License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000, Intel Corporation, all rights reserved. 14 // Third party copyrights are property of their respective owners. 15 // 16 // Redistribution and use in source and binary forms, with or without modification, 17 // are permitted provided that the following conditions are met: 18 // 19 // * Redistribution's of source code must retain the above copyright notice, 20 // this list of conditions and the following disclaimer. 21 // 22 // * Redistribution's in binary form must reproduce the above copyright notice, 23 // this list of conditions and the following disclaimer in the documentation 24 // and/or other materials provided with the distribution. 25 // 26 // * The name of Intel Corporation may not be used to endorse or promote products 27 // derived from this software without specific prior written permission. 28 // 29 // This software is provided by the copyright holders and contributors "as is" and 30 // any express or implied warranties, including, but not limited to, the implied 31 // warranties of merchantability and fitness for a particular purpose are disclaimed. 32 // In no event shall the Intel Corporation or contributors be liable for any direct, 33 // indirect, incidental, special, exemplary, or consequential damages 34 // (including, but not limited to, procurement of substitute goods or services; 35 // loss of use, data, or profits; or business interruption) however caused 36 // and on any theory of liability, whether in contract, strict liability, 37 // or tort (including negligence or otherwise) arising in any way out of 38 // the use of this software, even if advised of the possibility of such damage. 39 // 40 //M*/ 41 42 43 #ifndef _CV_H_ 44 #define _CV_H_ 45 46 #ifdef __IPL_H__ 47 #define HAVE_IPL 48 #endif 49 50 #ifndef SKIP_INCLUDES 51 #if defined(_CH_) 52 #pragma package <chopencv> 53 #include <chdl.h> 54 LOAD_CHDL(cv) 55 #endif 56 #endif 57 58 #include "cxcore.h" 59 #include "cvtypes.h" 60 61 #ifdef __cplusplus 62 extern "C" { 63 #endif 64 65 /****************************************************************************************\ 66 * Image Processing * 67 \****************************************************************************************/ 68 69 /* Copies source 2D array inside of the larger destination array and 70 makes a border of the specified type (IPL_BORDER_*) around the copied area. */ 71 CVAPI(void) cvCopyMakeBorder( const CvArr* src, CvArr* dst, CvPoint offset, 72 int bordertype, CvScalar value CV_DEFAULT(cvScalarAll(0))); 73 74 #define CV_BLUR_NO_SCALE 0 75 #define CV_BLUR 1 76 #define CV_GAUSSIAN 2 77 #define CV_MEDIAN 3 78 #define CV_BILATERAL 4 79 80 /* Smoothes array (removes noise) */ 81 CVAPI(void) cvSmooth( const CvArr* src, CvArr* dst, 82 int smoothtype CV_DEFAULT(CV_GAUSSIAN), 83 int size1 CV_DEFAULT(3), 84 int size2 CV_DEFAULT(0), 85 double sigma1 CV_DEFAULT(0), 86 double sigma2 CV_DEFAULT(0)); 87 88 /* Convolves the image with the kernel */ 89 CVAPI(void) cvFilter2D( const CvArr* src, CvArr* dst, const CvMat* kernel, 90 CvPoint anchor CV_DEFAULT(cvPoint(-1,-1))); 91 92 /* Finds integral image: SUM(X,Y) = sum(x<X,y<Y)I(x,y) */ 93 CVAPI(void) cvIntegral( const CvArr* image, CvArr* sum, 94 CvArr* sqsum CV_DEFAULT(NULL), 95 CvArr* tilted_sum CV_DEFAULT(NULL)); 96 97 /* 98 Smoothes the input image with gaussian kernel and then down-samples it. 99 dst_width = floor(src_width/2)[+1], 100 dst_height = floor(src_height/2)[+1] 101 */ 102 CVAPI(void) cvPyrDown( const CvArr* src, CvArr* dst, 103 int filter CV_DEFAULT(CV_GAUSSIAN_5x5) ); 104 105 /* 106 Up-samples image and smoothes the result with gaussian kernel. 107 dst_width = src_width*2, 108 dst_height = src_height*2 109 */ 110 CVAPI(void) cvPyrUp( const CvArr* src, CvArr* dst, 111 int filter CV_DEFAULT(CV_GAUSSIAN_5x5) ); 112 113 /* Builds pyramid for an image */ 114 CVAPI(CvMat**) cvCreatePyramid( const CvArr* img, int extra_layers, double rate, 115 const CvSize* layer_sizes CV_DEFAULT(0), 116 CvArr* bufarr CV_DEFAULT(0), 117 int calc CV_DEFAULT(1), 118 int filter CV_DEFAULT(CV_GAUSSIAN_5x5) ); 119 120 /* Releases pyramid */ 121 CVAPI(void) cvReleasePyramid( CvMat*** pyramid, int extra_layers ); 122 123 124 /* Splits color or grayscale image into multiple connected components 125 of nearly the same color/brightness using modification of Burt algorithm. 126 comp with contain a pointer to sequence (CvSeq) 127 of connected components (CvConnectedComp) */ 128 CVAPI(void) cvPyrSegmentation( IplImage* src, IplImage* dst, 129 CvMemStorage* storage, CvSeq** comp, 130 int level, double threshold1, 131 double threshold2 ); 132 133 /* Filters image using meanshift algorithm */ 134 CVAPI(void) cvPyrMeanShiftFiltering( const CvArr* src, CvArr* dst, 135 double sp, double sr, int max_level CV_DEFAULT(1), 136 CvTermCriteria termcrit CV_DEFAULT(cvTermCriteria(CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,5,1))); 137 138 /* Segments image using seed "markers" */ 139 CVAPI(void) cvWatershed( const CvArr* image, CvArr* markers ); 140 141 #define CV_INPAINT_NS 0 142 #define CV_INPAINT_TELEA 1 143 144 /* Inpaints the selected region in the image */ 145 CVAPI(void) cvInpaint( const CvArr* src, const CvArr* inpaint_mask, 146 CvArr* dst, double inpaintRange, int flags ); 147 148 #define CV_SCHARR -1 149 #define CV_MAX_SOBEL_KSIZE 7 150 151 /* Calculates an image derivative using generalized Sobel 152 (aperture_size = 1,3,5,7) or Scharr (aperture_size = -1) operator. 153 Scharr can be used only for the first dx or dy derivative */ 154 CVAPI(void) cvSobel( const CvArr* src, CvArr* dst, 155 int xorder, int yorder, 156 int aperture_size CV_DEFAULT(3)); 157 158 /* Calculates the image Laplacian: (d2/dx + d2/dy)I */ 159 CVAPI(void) cvLaplace( const CvArr* src, CvArr* dst, 160 int aperture_size CV_DEFAULT(3) ); 161 162 /* Constants for color conversion */ 163 #define CV_BGR2BGRA 0 164 #define CV_RGB2RGBA CV_BGR2BGRA 165 166 #define CV_BGRA2BGR 1 167 #define CV_RGBA2RGB CV_BGRA2BGR 168 169 #define CV_BGR2RGBA 2 170 #define CV_RGB2BGRA CV_BGR2RGBA 171 172 #define CV_RGBA2BGR 3 173 #define CV_BGRA2RGB CV_RGBA2BGR 174 175 #define CV_BGR2RGB 4 176 #define CV_RGB2BGR CV_BGR2RGB 177 178 #define CV_BGRA2RGBA 5 179 #define CV_RGBA2BGRA CV_BGRA2RGBA 180 181 #define CV_BGR2GRAY 6 182 #define CV_RGB2GRAY 7 183 #define CV_GRAY2BGR 8 184 #define CV_GRAY2RGB CV_GRAY2BGR 185 #define CV_GRAY2BGRA 9 186 #define CV_GRAY2RGBA CV_GRAY2BGRA 187 #define CV_BGRA2GRAY 10 188 #define CV_RGBA2GRAY 11 189 190 #define CV_BGR2BGR565 12 191 #define CV_RGB2BGR565 13 192 #define CV_BGR5652BGR 14 193 #define CV_BGR5652RGB 15 194 #define CV_BGRA2BGR565 16 195 #define CV_RGBA2BGR565 17 196 #define CV_BGR5652BGRA 18 197 #define CV_BGR5652RGBA 19 198 199 #define CV_GRAY2BGR565 20 200 #define CV_BGR5652GRAY 21 201 202 #define CV_BGR2BGR555 22 203 #define CV_RGB2BGR555 23 204 #define CV_BGR5552BGR 24 205 #define CV_BGR5552RGB 25 206 #define CV_BGRA2BGR555 26 207 #define CV_RGBA2BGR555 27 208 #define CV_BGR5552BGRA 28 209 #define CV_BGR5552RGBA 29 210 211 #define CV_GRAY2BGR555 30 212 #define CV_BGR5552GRAY 31 213 214 #define CV_BGR2XYZ 32 215 #define CV_RGB2XYZ 33 216 #define CV_XYZ2BGR 34 217 #define CV_XYZ2RGB 35 218 219 #define CV_BGR2YCrCb 36 220 #define CV_RGB2YCrCb 37 221 #define CV_YCrCb2BGR 38 222 #define CV_YCrCb2RGB 39 223 224 #define CV_BGR2HSV 40 225 #define CV_RGB2HSV 41 226 227 #define CV_BGR2Lab 44 228 #define CV_RGB2Lab 45 229 230 #define CV_BayerBG2BGR 46 231 #define CV_BayerGB2BGR 47 232 #define CV_BayerRG2BGR 48 233 #define CV_BayerGR2BGR 49 234 235 #define CV_BayerBG2RGB CV_BayerRG2BGR 236 #define CV_BayerGB2RGB CV_BayerGR2BGR 237 #define CV_BayerRG2RGB CV_BayerBG2BGR 238 #define CV_BayerGR2RGB CV_BayerGB2BGR 239 240 #define CV_BGR2Luv 50 241 #define CV_RGB2Luv 51 242 #define CV_BGR2HLS 52 243 #define CV_RGB2HLS 53 244 245 #define CV_HSV2BGR 54 246 #define CV_HSV2RGB 55 247 248 #define CV_Lab2BGR 56 249 #define CV_Lab2RGB 57 250 #define CV_Luv2BGR 58 251 #define CV_Luv2RGB 59 252 #define CV_HLS2BGR 60 253 #define CV_HLS2RGB 61 254 255 #define CV_COLORCVT_MAX 100 256 257 /* Converts input array pixels from one color space to another */ 258 CVAPI(void) cvCvtColor( const CvArr* src, CvArr* dst, int code ); 259 260 #define CV_INTER_NN 0 261 #define CV_INTER_LINEAR 1 262 #define CV_INTER_CUBIC 2 263 #define CV_INTER_AREA 3 264 265 #define CV_WARP_FILL_OUTLIERS 8 266 #define CV_WARP_INVERSE_MAP 16 267 268 /* Resizes image (input array is resized to fit the destination array) */ 269 CVAPI(void) cvResize( const CvArr* src, CvArr* dst, 270 int interpolation CV_DEFAULT( CV_INTER_LINEAR )); 271 272 /* Warps image with affine transform */ 273 CVAPI(void) cvWarpAffine( const CvArr* src, CvArr* dst, const CvMat* map_matrix, 274 int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS), 275 CvScalar fillval CV_DEFAULT(cvScalarAll(0)) ); 276 277 /* Computes affine transform matrix for mapping src[i] to dst[i] (i=0,1,2) */ 278 CVAPI(CvMat*) cvGetAffineTransform( const CvPoint2D32f * src, 279 const CvPoint2D32f * dst, 280 CvMat * map_matrix ); 281 282 /* Computes rotation_matrix matrix */ 283 CVAPI(CvMat*) cv2DRotationMatrix( CvPoint2D32f center, double angle, 284 double scale, CvMat* map_matrix ); 285 286 /* Warps image with perspective (projective) transform */ 287 CVAPI(void) cvWarpPerspective( const CvArr* src, CvArr* dst, const CvMat* map_matrix, 288 int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS), 289 CvScalar fillval CV_DEFAULT(cvScalarAll(0)) ); 290 291 /* Computes perspective transform matrix for mapping src[i] to dst[i] (i=0,1,2,3) */ 292 CVAPI(CvMat*) cvGetPerspectiveTransform( const CvPoint2D32f* src, 293 const CvPoint2D32f* dst, 294 CvMat* map_matrix ); 295 296 /* Performs generic geometric transformation using the specified coordinate maps */ 297 CVAPI(void) cvRemap( const CvArr* src, CvArr* dst, 298 const CvArr* mapx, const CvArr* mapy, 299 int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS), 300 CvScalar fillval CV_DEFAULT(cvScalarAll(0)) ); 301 302 /* Converts mapx & mapy from floating-point to integer formats for cvRemap */ 303 CVAPI(void) cvConvertMaps( const CvArr* mapx, const CvArr* mapy, 304 CvArr* mapxy, CvArr* mapalpha ); 305 306 /* Performs forward or inverse log-polar image transform */ 307 CVAPI(void) cvLogPolar( const CvArr* src, CvArr* dst, 308 CvPoint2D32f center, double M, 309 int flags CV_DEFAULT(CV_INTER_LINEAR+CV_WARP_FILL_OUTLIERS)); 310 311 #define CV_SHAPE_RECT 0 312 #define CV_SHAPE_CROSS 1 313 #define CV_SHAPE_ELLIPSE 2 314 #define CV_SHAPE_CUSTOM 100 315 316 /* creates structuring element used for morphological operations */ 317 CVAPI(IplConvKernel*) cvCreateStructuringElementEx( 318 int cols, int rows, int anchor_x, int anchor_y, 319 int shape, int* values CV_DEFAULT(NULL) ); 320 321 /* releases structuring element */ 322 CVAPI(void) cvReleaseStructuringElement( IplConvKernel** element ); 323 324 /* erodes input image (applies minimum filter) one or more times. 325 If element pointer is NULL, 3x3 rectangular element is used */ 326 CVAPI(void) cvErode( const CvArr* src, CvArr* dst, 327 IplConvKernel* element CV_DEFAULT(NULL), 328 int iterations CV_DEFAULT(1) ); 329 330 /* dilates input image (applies maximum filter) one or more times. 331 If element pointer is NULL, 3x3 rectangular element is used */ 332 CVAPI(void) cvDilate( const CvArr* src, CvArr* dst, 333 IplConvKernel* element CV_DEFAULT(NULL), 334 int iterations CV_DEFAULT(1) ); 335 336 #define CV_MOP_OPEN 2 337 #define CV_MOP_CLOSE 3 338 #define CV_MOP_GRADIENT 4 339 #define CV_MOP_TOPHAT 5 340 #define CV_MOP_BLACKHAT 6 341 342 /* Performs complex morphological transformation */ 343 CVAPI(void) cvMorphologyEx( const CvArr* src, CvArr* dst, 344 CvArr* temp, IplConvKernel* element, 345 int operation, int iterations CV_DEFAULT(1) ); 346 347 /* Calculates all spatial and central moments up to the 3rd order */ 348 CVAPI(void) cvMoments( const CvArr* arr, CvMoments* moments, int binary CV_DEFAULT(0)); 349 350 /* Retrieve particular spatial, central or normalized central moments */ 351 CVAPI(double) cvGetSpatialMoment( CvMoments* moments, int x_order, int y_order ); 352 CVAPI(double) cvGetCentralMoment( CvMoments* moments, int x_order, int y_order ); 353 CVAPI(double) cvGetNormalizedCentralMoment( CvMoments* moments, 354 int x_order, int y_order ); 355 356 /* Calculates 7 Hu's invariants from precalculated spatial and central moments */ 357 CVAPI(void) cvGetHuMoments( CvMoments* moments, CvHuMoments* hu_moments ); 358 359 /*********************************** data sampling **************************************/ 360 361 /* Fetches pixels that belong to the specified line segment and stores them to the buffer. 362 Returns the number of retrieved points. */ 363 CVAPI(int) cvSampleLine( const CvArr* image, CvPoint pt1, CvPoint pt2, void* buffer, 364 int connectivity CV_DEFAULT(8)); 365 366 /* Retrieves the rectangular image region with specified center from the input array. 367 dst(x,y) <- src(x + center.x - dst_width/2, y + center.y - dst_height/2). 368 Values of pixels with fractional coordinates are retrieved using bilinear interpolation*/ 369 CVAPI(void) cvGetRectSubPix( const CvArr* src, CvArr* dst, CvPoint2D32f center ); 370 371 372 /* Retrieves quadrangle from the input array. 373 matrixarr = ( a11 a12 | b1 ) dst(x,y) <- src(A[x y]' + b) 374 ( a21 a22 | b2 ) (bilinear interpolation is used to retrieve pixels 375 with fractional coordinates) 376 */ 377 CVAPI(void) cvGetQuadrangleSubPix( const CvArr* src, CvArr* dst, 378 const CvMat* map_matrix ); 379 380 /* Methods for comparing two array */ 381 #define CV_TM_SQDIFF 0 382 #define CV_TM_SQDIFF_NORMED 1 383 #define CV_TM_CCORR 2 384 #define CV_TM_CCORR_NORMED 3 385 #define CV_TM_CCOEFF 4 386 #define CV_TM_CCOEFF_NORMED 5 387 388 /* Measures similarity between template and overlapped windows in the source image 389 and fills the resultant image with the measurements */ 390 CVAPI(void) cvMatchTemplate( const CvArr* image, const CvArr* templ, 391 CvArr* result, int method ); 392 393 /* Computes earth mover distance between 394 two weighted point sets (called signatures) */ 395 CVAPI(float) cvCalcEMD2( const CvArr* signature1, 396 const CvArr* signature2, 397 int distance_type, 398 CvDistanceFunction distance_func CV_DEFAULT(NULL), 399 const CvArr* cost_matrix CV_DEFAULT(NULL), 400 CvArr* flow CV_DEFAULT(NULL), 401 float* lower_bound CV_DEFAULT(NULL), 402 void* userdata CV_DEFAULT(NULL)); 403 404 /****************************************************************************************\ 405 * Contours retrieving * 406 \****************************************************************************************/ 407 408 /* Retrieves outer and optionally inner boundaries of white (non-zero) connected 409 components in the black (zero) background */ 410 CVAPI(int) cvFindContours( CvArr* image, CvMemStorage* storage, CvSeq** first_contour, 411 int header_size CV_DEFAULT(sizeof(CvContour)), 412 int mode CV_DEFAULT(CV_RETR_LIST), 413 int method CV_DEFAULT(CV_CHAIN_APPROX_SIMPLE), 414 CvPoint offset CV_DEFAULT(cvPoint(0,0))); 415 416 417 /* Initalizes contour retrieving process. 418 Calls cvStartFindContours. 419 Calls cvFindNextContour until null pointer is returned 420 or some other condition becomes true. 421 Calls cvEndFindContours at the end. */ 422 CVAPI(CvContourScanner) cvStartFindContours( CvArr* image, CvMemStorage* storage, 423 int header_size CV_DEFAULT(sizeof(CvContour)), 424 int mode CV_DEFAULT(CV_RETR_LIST), 425 int method CV_DEFAULT(CV_CHAIN_APPROX_SIMPLE), 426 CvPoint offset CV_DEFAULT(cvPoint(0,0))); 427 428 /* Retrieves next contour */ 429 CVAPI(CvSeq*) cvFindNextContour( CvContourScanner scanner ); 430 431 432 /* Substitutes the last retrieved contour with the new one 433 (if the substitutor is null, the last retrieved contour is removed from the tree) */ 434 CVAPI(void) cvSubstituteContour( CvContourScanner scanner, CvSeq* new_contour ); 435 436 437 /* Releases contour scanner and returns pointer to the first outer contour */ 438 CVAPI(CvSeq*) cvEndFindContours( CvContourScanner* scanner ); 439 440 /* Approximates a single Freeman chain or a tree of chains to polygonal curves */ 441 CVAPI(CvSeq*) cvApproxChains( CvSeq* src_seq, CvMemStorage* storage, 442 int method CV_DEFAULT(CV_CHAIN_APPROX_SIMPLE), 443 double parameter CV_DEFAULT(0), 444 int minimal_perimeter CV_DEFAULT(0), 445 int recursive CV_DEFAULT(0)); 446 447 448 /* Initalizes Freeman chain reader. 449 The reader is used to iteratively get coordinates of all the chain points. 450 If the Freeman codes should be read as is, a simple sequence reader should be used */ 451 CVAPI(void) cvStartReadChainPoints( CvChain* chain, CvChainPtReader* reader ); 452 453 /* Retrieves the next chain point */ 454 CVAPI(CvPoint) cvReadChainPoint( CvChainPtReader* reader ); 455 456 457 /****************************************************************************************\ 458 * Motion Analysis * 459 \****************************************************************************************/ 460 461 /************************************ optical flow ***************************************/ 462 463 /* Calculates optical flow for 2 images using classical Lucas & Kanade algorithm */ 464 CVAPI(void) cvCalcOpticalFlowLK( const CvArr* prev, const CvArr* curr, 465 CvSize win_size, CvArr* velx, CvArr* vely ); 466 467 /* Calculates optical flow for 2 images using block matching algorithm */ 468 CVAPI(void) cvCalcOpticalFlowBM( const CvArr* prev, const CvArr* curr, 469 CvSize block_size, CvSize shift_size, 470 CvSize max_range, int use_previous, 471 CvArr* velx, CvArr* vely ); 472 473 /* Calculates Optical flow for 2 images using Horn & Schunck algorithm */ 474 CVAPI(void) cvCalcOpticalFlowHS( const CvArr* prev, const CvArr* curr, 475 int use_previous, CvArr* velx, CvArr* vely, 476 double lambda, CvTermCriteria criteria ); 477 478 #define CV_LKFLOW_PYR_A_READY 1 479 #define CV_LKFLOW_PYR_B_READY 2 480 #define CV_LKFLOW_INITIAL_GUESSES 4 481 #define CV_LKFLOW_GET_MIN_EIGENVALS 8 482 483 /* It is Lucas & Kanade method, modified to use pyramids. 484 Also it does several iterations to get optical flow for 485 every point at every pyramid level. 486 Calculates optical flow between two images for certain set of points (i.e. 487 it is a "sparse" optical flow, which is opposite to the previous 3 methods) */ 488 CVAPI(void) cvCalcOpticalFlowPyrLK( const CvArr* prev, const CvArr* curr, 489 CvArr* prev_pyr, CvArr* curr_pyr, 490 const CvPoint2D32f* prev_features, 491 CvPoint2D32f* curr_features, 492 int count, 493 CvSize win_size, 494 int level, 495 char* status, 496 float* track_error, 497 CvTermCriteria criteria, 498 int flags ); 499 500 501 /* Modification of a previous sparse optical flow algorithm to calculate 502 affine flow */ 503 CVAPI(void) cvCalcAffineFlowPyrLK( const CvArr* prev, const CvArr* curr, 504 CvArr* prev_pyr, CvArr* curr_pyr, 505 const CvPoint2D32f* prev_features, 506 CvPoint2D32f* curr_features, 507 float* matrices, int count, 508 CvSize win_size, int level, 509 char* status, float* track_error, 510 CvTermCriteria criteria, int flags ); 511 512 /* Estimate rigid transformation between 2 images or 2 point sets */ 513 CVAPI(int) cvEstimateRigidTransform( const CvArr* A, const CvArr* B, 514 CvMat* M, int full_affine ); 515 516 /********************************* motion templates *************************************/ 517 518 /****************************************************************************************\ 519 * All the motion template functions work only with single channel images. * 520 * Silhouette image must have depth IPL_DEPTH_8U or IPL_DEPTH_8S * 521 * Motion history image must have depth IPL_DEPTH_32F, * 522 * Gradient mask - IPL_DEPTH_8U or IPL_DEPTH_8S, * 523 * Motion orientation image - IPL_DEPTH_32F * 524 * Segmentation mask - IPL_DEPTH_32F * 525 * All the angles are in degrees, all the times are in milliseconds * 526 \****************************************************************************************/ 527 528 /* Updates motion history image given motion silhouette */ 529 CVAPI(void) cvUpdateMotionHistory( const CvArr* silhouette, CvArr* mhi, 530 double timestamp, double duration ); 531 532 /* Calculates gradient of the motion history image and fills 533 a mask indicating where the gradient is valid */ 534 CVAPI(void) cvCalcMotionGradient( const CvArr* mhi, CvArr* mask, CvArr* orientation, 535 double delta1, double delta2, 536 int aperture_size CV_DEFAULT(3)); 537 538 /* Calculates average motion direction within a selected motion region 539 (region can be selected by setting ROIs and/or by composing a valid gradient mask 540 with the region mask) */ 541 CVAPI(double) cvCalcGlobalOrientation( const CvArr* orientation, const CvArr* mask, 542 const CvArr* mhi, double timestamp, 543 double duration ); 544 545 /* Splits a motion history image into a few parts corresponding to separate independent motions 546 (e.g. left hand, right hand) */ 547 CVAPI(CvSeq*) cvSegmentMotion( const CvArr* mhi, CvArr* seg_mask, 548 CvMemStorage* storage, 549 double timestamp, double seg_thresh ); 550 551 /*********************** Background statistics accumulation *****************************/ 552 553 /* Adds image to accumulator */ 554 CVAPI(void) cvAcc( const CvArr* image, CvArr* sum, 555 const CvArr* mask CV_DEFAULT(NULL) ); 556 557 /* Adds squared image to accumulator */ 558 CVAPI(void) cvSquareAcc( const CvArr* image, CvArr* sqsum, 559 const CvArr* mask CV_DEFAULT(NULL) ); 560 561 /* Adds a product of two images to accumulator */ 562 CVAPI(void) cvMultiplyAcc( const CvArr* image1, const CvArr* image2, CvArr* acc, 563 const CvArr* mask CV_DEFAULT(NULL) ); 564 565 /* Adds image to accumulator with weights: acc = acc*(1-alpha) + image*alpha */ 566 CVAPI(void) cvRunningAvg( const CvArr* image, CvArr* acc, double alpha, 567 const CvArr* mask CV_DEFAULT(NULL) ); 568 569 570 /****************************************************************************************\ 571 * Tracking * 572 \****************************************************************************************/ 573 574 /* Implements CAMSHIFT algorithm - determines object position, size and orientation 575 from the object histogram back project (extension of meanshift) */ 576 CVAPI(int) cvCamShift( const CvArr* prob_image, CvRect window, 577 CvTermCriteria criteria, CvConnectedComp* comp, 578 CvBox2D* box CV_DEFAULT(NULL) ); 579 580 /* Implements MeanShift algorithm - determines object position 581 from the object histogram back project */ 582 CVAPI(int) cvMeanShift( const CvArr* prob_image, CvRect window, 583 CvTermCriteria criteria, CvConnectedComp* comp ); 584 585 /* Creates ConDensation filter state */ 586 CVAPI(CvConDensation*) cvCreateConDensation( int dynam_params, 587 int measure_params, 588 int sample_count ); 589 590 /* Releases ConDensation filter state */ 591 CVAPI(void) cvReleaseConDensation( CvConDensation** condens ); 592 593 /* Updates ConDensation filter by time (predict future state of the system) */ 594 CVAPI(void) cvConDensUpdateByTime( CvConDensation* condens); 595 596 /* Initializes ConDensation filter samples */ 597 CVAPI(void) cvConDensInitSampleSet( CvConDensation* condens, CvMat* lower_bound, CvMat* upper_bound ); 598 599 /* Creates Kalman filter and sets A, B, Q, R and state to some initial values */ 600 CVAPI(CvKalman*) cvCreateKalman( int dynam_params, int measure_params, 601 int control_params CV_DEFAULT(0)); 602 603 /* Releases Kalman filter state */ 604 CVAPI(void) cvReleaseKalman( CvKalman** kalman); 605 606 /* Updates Kalman filter by time (predicts future state of the system) */ 607 CVAPI(const CvMat*) cvKalmanPredict( CvKalman* kalman, 608 const CvMat* control CV_DEFAULT(NULL)); 609 610 /* Updates Kalman filter by measurement 611 (corrects state of the system and internal matrices) */ 612 CVAPI(const CvMat*) cvKalmanCorrect( CvKalman* kalman, const CvMat* measurement ); 613 614 /****************************************************************************************\ 615 * Planar subdivisions * 616 \****************************************************************************************/ 617 618 /* Initializes Delaunay triangulation */ 619 CVAPI(void) cvInitSubdivDelaunay2D( CvSubdiv2D* subdiv, CvRect rect ); 620 621 /* Creates new subdivision */ 622 CVAPI(CvSubdiv2D*) cvCreateSubdiv2D( int subdiv_type, int header_size, 623 int vtx_size, int quadedge_size, 624 CvMemStorage* storage ); 625 626 /************************* high-level subdivision functions ***************************/ 627 628 /* Simplified Delaunay diagram creation */ 629 CV_INLINE CvSubdiv2D* cvCreateSubdivDelaunay2D( CvRect rect, CvMemStorage* storage ) 630 { 631 CvSubdiv2D* subdiv = cvCreateSubdiv2D( CV_SEQ_KIND_SUBDIV2D, sizeof(*subdiv), 632 sizeof(CvSubdiv2DPoint), sizeof(CvQuadEdge2D), storage ); 633 634 cvInitSubdivDelaunay2D( subdiv, rect ); 635 return subdiv; 636 } 637 638 639 /* Inserts new point to the Delaunay triangulation */ 640 CVAPI(CvSubdiv2DPoint*) cvSubdivDelaunay2DInsert( CvSubdiv2D* subdiv, CvPoint2D32f pt); 641 642 /* Locates a point within the Delaunay triangulation (finds the edge 643 the point is left to or belongs to, or the triangulation point the given 644 point coinsides with */ 645 CVAPI(CvSubdiv2DPointLocation) cvSubdiv2DLocate( 646 CvSubdiv2D* subdiv, CvPoint2D32f pt, 647 CvSubdiv2DEdge* edge, 648 CvSubdiv2DPoint** vertex CV_DEFAULT(NULL) ); 649 650 /* Calculates Voronoi tesselation (i.e. coordinates of Voronoi points) */ 651 CVAPI(void) cvCalcSubdivVoronoi2D( CvSubdiv2D* subdiv ); 652 653 654 /* Removes all Voronoi points from the tesselation */ 655 CVAPI(void) cvClearSubdivVoronoi2D( CvSubdiv2D* subdiv ); 656 657 658 /* Finds the nearest to the given point vertex in subdivision. */ 659 CVAPI(CvSubdiv2DPoint*) cvFindNearestPoint2D( CvSubdiv2D* subdiv, CvPoint2D32f pt ); 660 661 662 /************ Basic quad-edge navigation and operations ************/ 663 664 CV_INLINE CvSubdiv2DEdge cvSubdiv2DNextEdge( CvSubdiv2DEdge edge ) 665 { 666 return CV_SUBDIV2D_NEXT_EDGE(edge); 667 } 668 669 670 CV_INLINE CvSubdiv2DEdge cvSubdiv2DRotateEdge( CvSubdiv2DEdge edge, int rotate ) 671 { 672 return (edge & ~3) + ((edge + rotate) & 3); 673 } 674 675 CV_INLINE CvSubdiv2DEdge cvSubdiv2DSymEdge( CvSubdiv2DEdge edge ) 676 { 677 return edge ^ 2; 678 } 679 680 CV_INLINE CvSubdiv2DEdge cvSubdiv2DGetEdge( CvSubdiv2DEdge edge, CvNextEdgeType type ) 681 { 682 CvQuadEdge2D* e = (CvQuadEdge2D*)(edge & ~3); 683 edge = e->next[(edge + (int)type) & 3]; 684 return (edge & ~3) + ((edge + ((int)type >> 4)) & 3); 685 } 686 687 688 CV_INLINE CvSubdiv2DPoint* cvSubdiv2DEdgeOrg( CvSubdiv2DEdge edge ) 689 { 690 CvQuadEdge2D* e = (CvQuadEdge2D*)(edge & ~3); 691 return (CvSubdiv2DPoint*)e->pt[edge & 3]; 692 } 693 694 695 CV_INLINE CvSubdiv2DPoint* cvSubdiv2DEdgeDst( CvSubdiv2DEdge edge ) 696 { 697 CvQuadEdge2D* e = (CvQuadEdge2D*)(edge & ~3); 698 return (CvSubdiv2DPoint*)e->pt[(edge + 2) & 3]; 699 } 700 701 702 CV_INLINE double cvTriangleArea( CvPoint2D32f a, CvPoint2D32f b, CvPoint2D32f c ) 703 { 704 return (b.x - a.x) * (c.y - a.y) - (b.y - a.y) * (c.x - a.x); 705 } 706 707 708 /****************************************************************************************\ 709 * Contour Processing and Shape Analysis * 710 \****************************************************************************************/ 711 712 #define CV_POLY_APPROX_DP 0 713 714 /* Approximates a single polygonal curve (contour) or 715 a tree of polygonal curves (contours) */ 716 CVAPI(CvSeq*) cvApproxPoly( const void* src_seq, 717 int header_size, CvMemStorage* storage, 718 int method, double parameter, 719 int parameter2 CV_DEFAULT(0)); 720 721 #define CV_DOMINANT_IPAN 1 722 723 /* Finds high-curvature points of the contour */ 724 CVAPI(CvSeq*) cvFindDominantPoints( CvSeq* contour, CvMemStorage* storage, 725 int method CV_DEFAULT(CV_DOMINANT_IPAN), 726 double parameter1 CV_DEFAULT(0), 727 double parameter2 CV_DEFAULT(0), 728 double parameter3 CV_DEFAULT(0), 729 double parameter4 CV_DEFAULT(0)); 730 731 /* Calculates perimeter of a contour or length of a part of contour */ 732 CVAPI(double) cvArcLength( const void* curve, 733 CvSlice slice CV_DEFAULT(CV_WHOLE_SEQ), 734 int is_closed CV_DEFAULT(-1)); 735 #define cvContourPerimeter( contour ) cvArcLength( contour, CV_WHOLE_SEQ, 1 ) 736 737 /* Calculates contour boundning rectangle (update=1) or 738 just retrieves pre-calculated rectangle (update=0) */ 739 CVAPI(CvRect) cvBoundingRect( CvArr* points, int update CV_DEFAULT(0) ); 740 741 /* Calculates area of a contour or contour segment */ 742 CVAPI(double) cvContourArea( const CvArr* contour, 743 CvSlice slice CV_DEFAULT(CV_WHOLE_SEQ)); 744 745 /* Finds minimum area rotated rectangle bounding a set of points */ 746 CVAPI(CvBox2D) cvMinAreaRect2( const CvArr* points, 747 CvMemStorage* storage CV_DEFAULT(NULL)); 748 749 /* Finds minimum enclosing circle for a set of points */ 750 CVAPI(int) cvMinEnclosingCircle( const CvArr* points, 751 CvPoint2D32f* center, float* radius ); 752 753 #define CV_CONTOURS_MATCH_I1 1 754 #define CV_CONTOURS_MATCH_I2 2 755 #define CV_CONTOURS_MATCH_I3 3 756 757 /* Compares two contours by matching their moments */ 758 CVAPI(double) cvMatchShapes( const void* object1, const void* object2, 759 int method, double parameter CV_DEFAULT(0)); 760 761 /* Builds hierarhical representation of a contour */ 762 CVAPI(CvContourTree*) cvCreateContourTree( const CvSeq* contour, 763 CvMemStorage* storage, 764 double threshold ); 765 766 /* Reconstruct (completelly or partially) contour a from contour tree */ 767 CVAPI(CvSeq*) cvContourFromContourTree( const CvContourTree* tree, 768 CvMemStorage* storage, 769 CvTermCriteria criteria ); 770 771 /* Compares two contour trees */ 772 #define CV_CONTOUR_TREES_MATCH_I1 1 773 774 CVAPI(double) cvMatchContourTrees( const CvContourTree* tree1, 775 const CvContourTree* tree2, 776 int method, double threshold ); 777 778 /* Calculates histogram of a contour */ 779 CVAPI(void) cvCalcPGH( const CvSeq* contour, CvHistogram* hist ); 780 781 #define CV_CLOCKWISE 1 782 #define CV_COUNTER_CLOCKWISE 2 783 784 /* Calculates exact convex hull of 2d point set */ 785 CVAPI(CvSeq*) cvConvexHull2( const CvArr* input, 786 void* hull_storage CV_DEFAULT(NULL), 787 int orientation CV_DEFAULT(CV_CLOCKWISE), 788 int return_points CV_DEFAULT(0)); 789 790 /* Checks whether the contour is convex or not (returns 1 if convex, 0 if not) */ 791 CVAPI(int) cvCheckContourConvexity( const CvArr* contour ); 792 793 /* Finds convexity defects for the contour */ 794 CVAPI(CvSeq*) cvConvexityDefects( const CvArr* contour, const CvArr* convexhull, 795 CvMemStorage* storage CV_DEFAULT(NULL)); 796 797 /* Fits ellipse into a set of 2d points */ 798 CVAPI(CvBox2D) cvFitEllipse2( const CvArr* points ); 799 800 /* Finds minimum rectangle containing two given rectangles */ 801 CVAPI(CvRect) cvMaxRect( const CvRect* rect1, const CvRect* rect2 ); 802 803 /* Finds coordinates of the box vertices */ 804 CVAPI(void) cvBoxPoints( CvBox2D box, CvPoint2D32f pt[4] ); 805 806 /* Initializes sequence header for a matrix (column or row vector) of points - 807 a wrapper for cvMakeSeqHeaderForArray (it does not initialize bounding rectangle!!!) */ 808 CVAPI(CvSeq*) cvPointSeqFromMat( int seq_kind, const CvArr* mat, 809 CvContour* contour_header, 810 CvSeqBlock* block ); 811 812 /* Checks whether the point is inside polygon, outside, on an edge (at a vertex). 813 Returns positive, negative or zero value, correspondingly. 814 Optionally, measures a signed distance between 815 the point and the nearest polygon edge (measure_dist=1) */ 816 CVAPI(double) cvPointPolygonTest( const CvArr* contour, 817 CvPoint2D32f pt, int measure_dist ); 818 819 /****************************************************************************************\ 820 * Histogram functions * 821 \****************************************************************************************/ 822 823 /* Creates new histogram */ 824 CVAPI(CvHistogram*) cvCreateHist( int dims, int* sizes, int type, 825 float** ranges CV_DEFAULT(NULL), 826 int uniform CV_DEFAULT(1)); 827 828 /* Assignes histogram bin ranges */ 829 CVAPI(void) cvSetHistBinRanges( CvHistogram* hist, float** ranges, 830 int uniform CV_DEFAULT(1)); 831 832 /* Creates histogram header for array */ 833 CVAPI(CvHistogram*) cvMakeHistHeaderForArray( 834 int dims, int* sizes, CvHistogram* hist, 835 float* data, float** ranges CV_DEFAULT(NULL), 836 int uniform CV_DEFAULT(1)); 837 838 /* Releases histogram */ 839 CVAPI(void) cvReleaseHist( CvHistogram** hist ); 840 841 /* Clears all the histogram bins */ 842 CVAPI(void) cvClearHist( CvHistogram* hist ); 843 844 /* Finds indices and values of minimum and maximum histogram bins */ 845 CVAPI(void) cvGetMinMaxHistValue( const CvHistogram* hist, 846 float* min_value, float* max_value, 847 int* min_idx CV_DEFAULT(NULL), 848 int* max_idx CV_DEFAULT(NULL)); 849 850 851 /* Normalizes histogram by dividing all bins by sum of the bins, multiplied by <factor>. 852 After that sum of histogram bins is equal to <factor> */ 853 CVAPI(void) cvNormalizeHist( CvHistogram* hist, double factor ); 854 855 856 /* Clear all histogram bins that are below the threshold */ 857 CVAPI(void) cvThreshHist( CvHistogram* hist, double threshold ); 858 859 #define CV_COMP_CORREL 0 860 #define CV_COMP_CHISQR 1 861 #define CV_COMP_INTERSECT 2 862 #define CV_COMP_BHATTACHARYYA 3 863 864 /* Compares two histogram */ 865 CVAPI(double) cvCompareHist( const CvHistogram* hist1, 866 const CvHistogram* hist2, 867 int method); 868 869 /* Copies one histogram to another. Destination histogram is created if 870 the destination pointer is NULL */ 871 CVAPI(void) cvCopyHist( const CvHistogram* src, CvHistogram** dst ); 872 873 874 /* Calculates bayesian probabilistic histograms 875 (each or src and dst is an array of <number> histograms */ 876 CVAPI(void) cvCalcBayesianProb( CvHistogram** src, int number, 877 CvHistogram** dst); 878 879 /* Calculates array histogram */ 880 CVAPI(void) cvCalcArrHist( CvArr** arr, CvHistogram* hist, 881 int accumulate CV_DEFAULT(0), 882 const CvArr* mask CV_DEFAULT(NULL) ); 883 884 CV_INLINE void cvCalcHist( IplImage** image, CvHistogram* hist, 885 int accumulate CV_DEFAULT(0), 886 const CvArr* mask CV_DEFAULT(NULL) ) 887 { 888 cvCalcArrHist( (CvArr**)image, hist, accumulate, mask ); 889 } 890 891 /* Calculates back project */ 892 CVAPI(void) cvCalcArrBackProject( CvArr** image, CvArr* dst, 893 const CvHistogram* hist ); 894 #define cvCalcBackProject(image, dst, hist) cvCalcArrBackProject((CvArr**)image, dst, hist) 895 896 897 /* Does some sort of template matching but compares histograms of 898 template and each window location */ 899 CVAPI(void) cvCalcArrBackProjectPatch( CvArr** image, CvArr* dst, CvSize range, 900 CvHistogram* hist, int method, 901 double factor ); 902 #define cvCalcBackProjectPatch( image, dst, range, hist, method, factor ) \ 903 cvCalcArrBackProjectPatch( (CvArr**)image, dst, range, hist, method, factor ) 904 905 906 /* calculates probabilistic density (divides one histogram by another) */ 907 CVAPI(void) cvCalcProbDensity( const CvHistogram* hist1, const CvHistogram* hist2, 908 CvHistogram* dst_hist, double scale CV_DEFAULT(255) ); 909 910 /* equalizes histogram of 8-bit single-channel image */ 911 CVAPI(void) cvEqualizeHist( const CvArr* src, CvArr* dst ); 912 913 914 #define CV_VALUE 1 915 #define CV_ARRAY 2 916 /* Updates active contour in order to minimize its cummulative 917 (internal and external) energy. */ 918 CVAPI(void) cvSnakeImage( const IplImage* image, CvPoint* points, 919 int length, float* alpha, 920 float* beta, float* gamma, 921 int coeff_usage, CvSize win, 922 CvTermCriteria criteria, int calc_gradient CV_DEFAULT(1)); 923 924 /* Calculates the cooficients of the homography matrix */ 925 CVAPI(void) cvCalcImageHomography( float* line, CvPoint3D32f* center, 926 float* intrinsic, float* homography ); 927 928 #define CV_DIST_MASK_3 3 929 #define CV_DIST_MASK_5 5 930 #define CV_DIST_MASK_PRECISE 0 931 932 /* Applies distance transform to binary image */ 933 CVAPI(void) cvDistTransform( const CvArr* src, CvArr* dst, 934 int distance_type CV_DEFAULT(CV_DIST_L2), 935 int mask_size CV_DEFAULT(3), 936 const float* mask CV_DEFAULT(NULL), 937 CvArr* labels CV_DEFAULT(NULL)); 938 939 940 /* Types of thresholding */ 941 #define CV_THRESH_BINARY 0 /* value = value > threshold ? max_value : 0 */ 942 #define CV_THRESH_BINARY_INV 1 /* value = value > threshold ? 0 : max_value */ 943 #define CV_THRESH_TRUNC 2 /* value = value > threshold ? threshold : value */ 944 #define CV_THRESH_TOZERO 3 /* value = value > threshold ? value : 0 */ 945 #define CV_THRESH_TOZERO_INV 4 /* value = value > threshold ? 0 : value */ 946 #define CV_THRESH_MASK 7 947 948 #define CV_THRESH_OTSU 8 /* use Otsu algorithm to choose the optimal threshold value; 949 combine the flag with one of the above CV_THRESH_* values */ 950 951 /* Applies fixed-level threshold to grayscale image. 952 This is a basic operation applied before retrieving contours */ 953 CVAPI(double) cvThreshold( const CvArr* src, CvArr* dst, 954 double threshold, double max_value, 955 int threshold_type ); 956 957 #define CV_ADAPTIVE_THRESH_MEAN_C 0 958 #define CV_ADAPTIVE_THRESH_GAUSSIAN_C 1 959 960 /* Applies adaptive threshold to grayscale image. 961 The two parameters for methods CV_ADAPTIVE_THRESH_MEAN_C and 962 CV_ADAPTIVE_THRESH_GAUSSIAN_C are: 963 neighborhood size (3, 5, 7 etc.), 964 and a constant subtracted from mean (...,-3,-2,-1,0,1,2,3,...) */ 965 CVAPI(void) cvAdaptiveThreshold( const CvArr* src, CvArr* dst, double max_value, 966 int adaptive_method CV_DEFAULT(CV_ADAPTIVE_THRESH_MEAN_C), 967 int threshold_type CV_DEFAULT(CV_THRESH_BINARY), 968 int block_size CV_DEFAULT(3), 969 double param1 CV_DEFAULT(5)); 970 971 #define CV_FLOODFILL_FIXED_RANGE (1 << 16) 972 #define CV_FLOODFILL_MASK_ONLY (1 << 17) 973 974 /* Fills the connected component until the color difference gets large enough */ 975 CVAPI(void) cvFloodFill( CvArr* image, CvPoint seed_point, 976 CvScalar new_val, CvScalar lo_diff CV_DEFAULT(cvScalarAll(0)), 977 CvScalar up_diff CV_DEFAULT(cvScalarAll(0)), 978 CvConnectedComp* comp CV_DEFAULT(NULL), 979 int flags CV_DEFAULT(4), 980 CvArr* mask CV_DEFAULT(NULL)); 981 982 /****************************************************************************************\ 983 * Feature detection * 984 \****************************************************************************************/ 985 986 #define CV_CANNY_L2_GRADIENT (1 << 31) 987 988 /* Runs canny edge detector */ 989 CVAPI(void) cvCanny( const CvArr* image, CvArr* edges, double threshold1, 990 double threshold2, int aperture_size CV_DEFAULT(3) ); 991 992 /* Calculates constraint image for corner detection 993 Dx^2 * Dyy + Dxx * Dy^2 - 2 * Dx * Dy * Dxy. 994 Applying threshold to the result gives coordinates of corners */ 995 CVAPI(void) cvPreCornerDetect( const CvArr* image, CvArr* corners, 996 int aperture_size CV_DEFAULT(3) ); 997 998 /* Calculates eigen values and vectors of 2x2 999 gradient covariation matrix at every image pixel */ 1000 CVAPI(void) cvCornerEigenValsAndVecs( const CvArr* image, CvArr* eigenvv, 1001 int block_size, int aperture_size CV_DEFAULT(3) ); 1002 1003 /* Calculates minimal eigenvalue for 2x2 gradient covariation matrix at 1004 every image pixel */ 1005 CVAPI(void) cvCornerMinEigenVal( const CvArr* image, CvArr* eigenval, 1006 int block_size, int aperture_size CV_DEFAULT(3) ); 1007 1008 /* Harris corner detector: 1009 Calculates det(M) - k*(trace(M)^2), where M is 2x2 gradient covariation matrix for each pixel */ 1010 CVAPI(void) cvCornerHarris( const CvArr* image, CvArr* harris_responce, 1011 int block_size, int aperture_size CV_DEFAULT(3), 1012 double k CV_DEFAULT(0.04) ); 1013 1014 /* Adjust corner position using some sort of gradient search */ 1015 CVAPI(void) cvFindCornerSubPix( const CvArr* image, CvPoint2D32f* corners, 1016 int count, CvSize win, CvSize zero_zone, 1017 CvTermCriteria criteria ); 1018 1019 /* Finds a sparse set of points within the selected region 1020 that seem to be easy to track */ 1021 CVAPI(void) cvGoodFeaturesToTrack( const CvArr* image, CvArr* eig_image, 1022 CvArr* temp_image, CvPoint2D32f* corners, 1023 int* corner_count, double quality_level, 1024 double min_distance, 1025 const CvArr* mask CV_DEFAULT(NULL), 1026 int block_size CV_DEFAULT(3), 1027 int use_harris CV_DEFAULT(0), 1028 double k CV_DEFAULT(0.04) ); 1029 1030 #define CV_HOUGH_STANDARD 0 1031 #define CV_HOUGH_PROBABILISTIC 1 1032 #define CV_HOUGH_MULTI_SCALE 2 1033 #define CV_HOUGH_GRADIENT 3 1034 1035 /* Finds lines on binary image using one of several methods. 1036 line_storage is either memory storage or 1 x <max number of lines> CvMat, its 1037 number of columns is changed by the function. 1038 method is one of CV_HOUGH_*; 1039 rho, theta and threshold are used for each of those methods; 1040 param1 ~ line length, param2 ~ line gap - for probabilistic, 1041 param1 ~ srn, param2 ~ stn - for multi-scale */ 1042 CVAPI(CvSeq*) cvHoughLines2( CvArr* image, void* line_storage, int method, 1043 double rho, double theta, int threshold, 1044 double param1 CV_DEFAULT(0), double param2 CV_DEFAULT(0)); 1045 1046 /* Finds circles in the image */ 1047 CVAPI(CvSeq*) cvHoughCircles( CvArr* image, void* circle_storage, 1048 int method, double dp, double min_dist, 1049 double param1 CV_DEFAULT(100), 1050 double param2 CV_DEFAULT(100), 1051 int min_radius CV_DEFAULT(0), 1052 int max_radius CV_DEFAULT(0)); 1053 1054 /* Fits a line into set of 2d or 3d points in a robust way (M-estimator technique) */ 1055 CVAPI(void) cvFitLine( const CvArr* points, int dist_type, double param, 1056 double reps, double aeps, float* line ); 1057 1058 1059 1060 struct CvFeatureTree; 1061 1062 /* Constructs kd-tree from set of feature descriptors */ 1063 CVAPI(struct CvFeatureTree*) cvCreateFeatureTree(CvMat* desc); 1064 1065 /* Release kd-tree */ 1066 CVAPI(void) cvReleaseFeatureTree(struct CvFeatureTree* tr); 1067 1068 /* Searches kd-tree for k nearest neighbors of given reference points, 1069 searching at most emax leaves. */ 1070 CVAPI(void) cvFindFeatures(struct CvFeatureTree* tr, CvMat* desc, 1071 CvMat* results, CvMat* dist, int k CV_DEFAULT(2), int emax CV_DEFAULT(20)); 1072 1073 /* Search kd-tree for all points that are inlier to given rect region. */ 1074 CVAPI(int) cvFindFeaturesBoxed(struct CvFeatureTree* tr, 1075 CvMat* bounds_min, CvMat* bounds_max, 1076 CvMat* results); 1077 1078 typedef struct CvSURFPoint 1079 { 1080 CvPoint2D32f pt; 1081 int laplacian; 1082 int size; 1083 float dir; 1084 float hessian; 1085 } CvSURFPoint; 1086 1087 CV_INLINE CvSURFPoint cvSURFPoint( CvPoint2D32f pt, int laplacian, 1088 int size, float dir CV_DEFAULT(0), 1089 float hessian CV_DEFAULT(0)) 1090 { 1091 CvSURFPoint kp; 1092 kp.pt = pt; 1093 kp.laplacian = laplacian; 1094 kp.size = size; 1095 kp.dir = dir; 1096 kp.hessian = hessian; 1097 return kp; 1098 } 1099 1100 typedef struct CvSURFParams 1101 { 1102 int extended; 1103 double hessianThreshold; 1104 1105 int nOctaves; 1106 int nOctaveLayers; 1107 } 1108 CvSURFParams; 1109 1110 CVAPI(CvSURFParams) cvSURFParams( double hessianThreshold, int extended CV_DEFAULT(0) ); 1111 CVAPI(void) cvExtractSURF( const CvArr* img, const CvArr* mask, 1112 CvSeq** keypoints, CvSeq** descriptors, 1113 CvMemStorage* storage, CvSURFParams params ); 1114 1115 /****************************************************************************************\ 1116 * Haar-like Object Detection functions * 1117 \****************************************************************************************/ 1118 1119 /* Loads haar classifier cascade from a directory. 1120 It is obsolete: convert your cascade to xml and use cvLoad instead */ 1121 CVAPI(CvHaarClassifierCascade*) cvLoadHaarClassifierCascade( 1122 const char* directory, CvSize orig_window_size); 1123 1124 CVAPI(void) cvReleaseHaarClassifierCascade( CvHaarClassifierCascade** cascade ); 1125 1126 #define CV_HAAR_DO_CANNY_PRUNING 1 1127 #define CV_HAAR_SCALE_IMAGE 2 1128 #define CV_HAAR_FIND_BIGGEST_OBJECT 4 1129 #define CV_HAAR_DO_ROUGH_SEARCH 8 1130 1131 CVAPI(CvSeq*) cvHaarDetectObjects( const CvArr* image, 1132 CvHaarClassifierCascade* cascade, 1133 CvMemStorage* storage, double scale_factor CV_DEFAULT(1.1), 1134 int min_neighbors CV_DEFAULT(3), int flags CV_DEFAULT(0), 1135 CvSize min_size CV_DEFAULT(cvSize(0,0))); 1136 1137 /* sets images for haar classifier cascade */ 1138 CVAPI(void) cvSetImagesForHaarClassifierCascade( CvHaarClassifierCascade* cascade, 1139 const CvArr* sum, const CvArr* sqsum, 1140 const CvArr* tilted_sum, double scale ); 1141 1142 /* runs the cascade on the specified window */ 1143 CVAPI(int) cvRunHaarClassifierCascade( CvHaarClassifierCascade* cascade, 1144 CvPoint pt, int start_stage CV_DEFAULT(0)); 1145 1146 1147 /* Alternate version that uses ints instead of floats */ 1148 CVAPI(CvSeq*) mycvHaarDetectObjects( const CvArr* image, 1149 CvHaarClassifierCascade* cascade, 1150 CvMemStorage* storage, double scale_factor CV_DEFAULT(1.1), 1151 int min_neighbors CV_DEFAULT(3), int flags CV_DEFAULT(0), 1152 CvSize min_size CV_DEFAULT(cvSize(0,0))); 1153 1154 CVAPI(void) mycvSetImagesForHaarClassifierCascade( CvHaarClassifierCascade* cascade, 1155 const CvArr* sum, const CvArr* sqsum, 1156 const CvArr* tilted_sum, double scale ); 1157 1158 CVAPI(int) mycvRunHaarClassifierCascade( CvHaarClassifierCascade* cascade, 1159 CvPoint pt, int start_stage CV_DEFAULT(0)); 1160 1161 /****************************************************************************************\ 1162 * Camera Calibration, Pose Estimation and Stereo * 1163 \****************************************************************************************/ 1164 1165 /* Transforms the input image to compensate lens distortion */ 1166 CVAPI(void) cvUndistort2( const CvArr* src, CvArr* dst, 1167 const CvMat* camera_matrix, 1168 const CvMat* distortion_coeffs ); 1169 1170 /* Computes transformation map from intrinsic camera parameters 1171 that can used by cvRemap */ 1172 CVAPI(void) cvInitUndistortMap( const CvMat* camera_matrix, 1173 const CvMat* distortion_coeffs, 1174 CvArr* mapx, CvArr* mapy ); 1175 1176 /* Computes undistortion+rectification map for a head of stereo camera */ 1177 CVAPI(void) cvInitUndistortRectifyMap( const CvMat* camera_matrix, 1178 const CvMat* dist_coeffs, 1179 const CvMat *R, const CvMat* new_camera_matrix, 1180 CvArr* mapx, CvArr* mapy ); 1181 1182 /* Computes the original (undistorted) feature coordinates 1183 from the observed (distorted) coordinates */ 1184 CVAPI(void) cvUndistortPoints( const CvMat* src, CvMat* dst, 1185 const CvMat* camera_matrix, 1186 const CvMat* dist_coeffs, 1187 const CvMat* R CV_DEFAULT(0), 1188 const CvMat* P CV_DEFAULT(0)); 1189 1190 /* Converts rotation vector to rotation matrix or vice versa */ 1191 CVAPI(int) cvRodrigues2( const CvMat* src, CvMat* dst, 1192 CvMat* jacobian CV_DEFAULT(0) ); 1193 1194 #define CV_LMEDS 4 1195 #define CV_RANSAC 8 1196 1197 /* Finds perspective transformation between the object plane and image (view) plane */ 1198 CVAPI(int) cvFindHomography( const CvMat* src_points, 1199 const CvMat* dst_points, 1200 CvMat* homography, 1201 int method CV_DEFAULT(0), 1202 double ransacReprojThreshold CV_DEFAULT(0), 1203 CvMat* mask CV_DEFAULT(0)); 1204 1205 /* Computes RQ decomposition for 3x3 matrices */ 1206 CVAPI(void) cvRQDecomp3x3( const CvMat *matrixM, CvMat *matrixR, CvMat *matrixQ, 1207 CvMat *matrixQx CV_DEFAULT(NULL), 1208 CvMat *matrixQy CV_DEFAULT(NULL), 1209 CvMat *matrixQz CV_DEFAULT(NULL), 1210 CvPoint3D64f *eulerAngles CV_DEFAULT(NULL)); 1211 1212 /* Computes projection matrix decomposition */ 1213 CVAPI(void) cvDecomposeProjectionMatrix( const CvMat *projMatr, CvMat *calibMatr, 1214 CvMat *rotMatr, CvMat *posVect, 1215 CvMat *rotMatrX CV_DEFAULT(NULL), 1216 CvMat *rotMatrY CV_DEFAULT(NULL), 1217 CvMat *rotMatrZ CV_DEFAULT(NULL), 1218 CvPoint3D64f *eulerAngles CV_DEFAULT(NULL)); 1219 1220 /* Computes d(AB)/dA and d(AB)/dB */ 1221 CVAPI(void) cvCalcMatMulDeriv( const CvMat* A, const CvMat* B, CvMat* dABdA, CvMat* dABdB ); 1222 1223 /* Computes r3 = rodrigues(rodrigues(r2)*rodrigues(r1)), 1224 t3 = rodrigues(r2)*t1 + t2 and the respective derivatives */ 1225 CVAPI(void) cvComposeRT( const CvMat* _rvec1, const CvMat* _tvec1, 1226 const CvMat* _rvec2, const CvMat* _tvec2, 1227 CvMat* _rvec3, CvMat* _tvec3, 1228 CvMat* dr3dr1 CV_DEFAULT(0), CvMat* dr3dt1 CV_DEFAULT(0), 1229 CvMat* dr3dr2 CV_DEFAULT(0), CvMat* dr3dt2 CV_DEFAULT(0), 1230 CvMat* dt3dr1 CV_DEFAULT(0), CvMat* dt3dt1 CV_DEFAULT(0), 1231 CvMat* dt3dr2 CV_DEFAULT(0), CvMat* dt3dt2 CV_DEFAULT(0) ); 1232 1233 /* Projects object points to the view plane using 1234 the specified extrinsic and intrinsic camera parameters */ 1235 CVAPI(void) cvProjectPoints2( const CvMat* object_points, const CvMat* rotation_vector, 1236 const CvMat* translation_vector, const CvMat* camera_matrix, 1237 const CvMat* distortion_coeffs, CvMat* image_points, 1238 CvMat* dpdrot CV_DEFAULT(NULL), CvMat* dpdt CV_DEFAULT(NULL), 1239 CvMat* dpdf CV_DEFAULT(NULL), CvMat* dpdc CV_DEFAULT(NULL), 1240 CvMat* dpddist CV_DEFAULT(NULL), 1241 double aspect_ratio CV_DEFAULT(0)); 1242 1243 /* Finds extrinsic camera parameters from 1244 a few known corresponding point pairs and intrinsic parameters */ 1245 CVAPI(void) cvFindExtrinsicCameraParams2( const CvMat* object_points, 1246 const CvMat* image_points, 1247 const CvMat* camera_matrix, 1248 const CvMat* distortion_coeffs, 1249 CvMat* rotation_vector, 1250 CvMat* translation_vector ); 1251 1252 /* Computes initial estimate of the intrinsic camera parameters 1253 in case of planar calibration target (e.g. chessboard) */ 1254 CVAPI(void) cvInitIntrinsicParams2D( const CvMat* object_points, 1255 const CvMat* image_points, 1256 const CvMat* npoints, CvSize image_size, 1257 CvMat* camera_matrix, 1258 double aspect_ratio CV_DEFAULT(1.) ); 1259 1260 #define CV_CALIB_CB_ADAPTIVE_THRESH 1 1261 #define CV_CALIB_CB_NORMALIZE_IMAGE 2 1262 #define CV_CALIB_CB_FILTER_QUADS 4 1263 1264 /* Detects corners on a chessboard calibration pattern */ 1265 CVAPI(int) cvFindChessboardCorners( const void* image, CvSize pattern_size, 1266 CvPoint2D32f* corners, 1267 int* corner_count CV_DEFAULT(NULL), 1268 int flags CV_DEFAULT(CV_CALIB_CB_ADAPTIVE_THRESH+ 1269 CV_CALIB_CB_NORMALIZE_IMAGE) ); 1270 1271 /* Draws individual chessboard corners or the whole chessboard detected */ 1272 CVAPI(void) cvDrawChessboardCorners( CvArr* image, CvSize pattern_size, 1273 CvPoint2D32f* corners, 1274 int count, int pattern_was_found ); 1275 1276 #define CV_CALIB_USE_INTRINSIC_GUESS 1 1277 #define CV_CALIB_FIX_ASPECT_RATIO 2 1278 #define CV_CALIB_FIX_PRINCIPAL_POINT 4 1279 #define CV_CALIB_ZERO_TANGENT_DIST 8 1280 #define CV_CALIB_FIX_FOCAL_LENGTH 16 1281 #define CV_CALIB_FIX_K1 32 1282 #define CV_CALIB_FIX_K2 64 1283 #define CV_CALIB_FIX_K3 128 1284 1285 /* Finds intrinsic and extrinsic camera parameters 1286 from a few views of known calibration pattern */ 1287 CVAPI(void) cvCalibrateCamera2( const CvMat* object_points, 1288 const CvMat* image_points, 1289 const CvMat* point_counts, 1290 CvSize image_size, 1291 CvMat* camera_matrix, 1292 CvMat* distortion_coeffs, 1293 CvMat* rotation_vectors CV_DEFAULT(NULL), 1294 CvMat* translation_vectors CV_DEFAULT(NULL), 1295 int flags CV_DEFAULT(0) ); 1296 1297 /* Computes various useful characteristics of the camera from the data computed by 1298 cvCalibrateCamera2 */ 1299 CVAPI(void) cvCalibrationMatrixValues( const CvMat *camera_matrix, 1300 CvSize image_size, 1301 double aperture_width CV_DEFAULT(0), 1302 double aperture_height CV_DEFAULT(0), 1303 double *fovx CV_DEFAULT(NULL), 1304 double *fovy CV_DEFAULT(NULL), 1305 double *focal_length CV_DEFAULT(NULL), 1306 CvPoint2D64f *principal_point CV_DEFAULT(NULL), 1307 double *pixel_aspect_ratio CV_DEFAULT(NULL)); 1308 1309 #define CV_CALIB_FIX_INTRINSIC 256 1310 #define CV_CALIB_SAME_FOCAL_LENGTH 512 1311 1312 /* Computes the transformation from one camera coordinate system to another one 1313 from a few correspondent views of the same calibration target. Optionally, calibrates 1314 both cameras */ 1315 CVAPI(void) cvStereoCalibrate( const CvMat* object_points, const CvMat* image_points1, 1316 const CvMat* image_points2, const CvMat* npoints, 1317 CvMat* camera_matrix1, CvMat* dist_coeffs1, 1318 CvMat* camera_matrix2, CvMat* dist_coeffs2, 1319 CvSize image_size, CvMat* R, CvMat* T, 1320 CvMat* E CV_DEFAULT(0), CvMat* F CV_DEFAULT(0), 1321 CvTermCriteria term_crit CV_DEFAULT(cvTermCriteria( 1322 CV_TERMCRIT_ITER+CV_TERMCRIT_EPS,30,1e-6)), 1323 int flags CV_DEFAULT(CV_CALIB_FIX_INTRINSIC) ); 1324 1325 #define CV_CALIB_ZERO_DISPARITY 1024 1326 1327 /* Computes 3D rotations (+ optional shift) for each camera coordinate system to make both 1328 views parallel (=> to make all the epipolar lines horizontal or vertical) */ 1329 CVAPI(void) cvStereoRectify( const CvMat* camera_matrix1, const CvMat* camera_matrix2, 1330 const CvMat* dist_coeffs1, const CvMat* dist_coeffs2, 1331 CvSize image_size, const CvMat* R, const CvMat* T, 1332 CvMat* R1, CvMat* R2, CvMat* P1, CvMat* P2, 1333 CvMat* Q CV_DEFAULT(0), 1334 int flags CV_DEFAULT(CV_CALIB_ZERO_DISPARITY) ); 1335 1336 /* Computes rectification transformations for uncalibrated pair of images using a set 1337 of point correspondences */ 1338 CVAPI(int) cvStereoRectifyUncalibrated( const CvMat* points1, const CvMat* points2, 1339 const CvMat* F, CvSize img_size, 1340 CvMat* H1, CvMat* H2, 1341 double threshold CV_DEFAULT(5)); 1342 1343 typedef struct CvPOSITObject CvPOSITObject; 1344 1345 /* Allocates and initializes CvPOSITObject structure before doing cvPOSIT */ 1346 CVAPI(CvPOSITObject*) cvCreatePOSITObject( CvPoint3D32f* points, int point_count ); 1347 1348 1349 /* Runs POSIT (POSe from ITeration) algorithm for determining 3d position of 1350 an object given its model and projection in a weak-perspective case */ 1351 CVAPI(void) cvPOSIT( CvPOSITObject* posit_object, CvPoint2D32f* image_points, 1352 double focal_length, CvTermCriteria criteria, 1353 CvMatr32f rotation_matrix, CvVect32f translation_vector); 1354 1355 /* Releases CvPOSITObject structure */ 1356 CVAPI(void) cvReleasePOSITObject( CvPOSITObject** posit_object ); 1357 1358 /* updates the number of RANSAC iterations */ 1359 CVAPI(int) cvRANSACUpdateNumIters( double p, double err_prob, 1360 int model_points, int max_iters ); 1361 1362 CVAPI(void) cvConvertPointsHomogeneous( const CvMat* src, CvMat* dst ); 1363 1364 /* Calculates fundamental matrix given a set of corresponding points */ 1365 #define CV_FM_7POINT 1 1366 #define CV_FM_8POINT 2 1367 #define CV_FM_LMEDS_ONLY CV_LMEDS 1368 #define CV_FM_RANSAC_ONLY CV_RANSAC 1369 #define CV_FM_LMEDS CV_LMEDS 1370 #define CV_FM_RANSAC CV_RANSAC 1371 CVAPI(int) cvFindFundamentalMat( const CvMat* points1, const CvMat* points2, 1372 CvMat* fundamental_matrix, 1373 int method CV_DEFAULT(CV_FM_RANSAC), 1374 double param1 CV_DEFAULT(3.), double param2 CV_DEFAULT(0.99), 1375 CvMat* status CV_DEFAULT(NULL) ); 1376 1377 /* For each input point on one of images 1378 computes parameters of the corresponding 1379 epipolar line on the other image */ 1380 CVAPI(void) cvComputeCorrespondEpilines( const CvMat* points, 1381 int which_image, 1382 const CvMat* fundamental_matrix, 1383 CvMat* correspondent_lines ); 1384 1385 /* stereo correspondence parameters and functions */ 1386 1387 #define CV_STEREO_BM_NORMALIZED_RESPONSE 0 1388 1389 /* Block matching algorithm structure */ 1390 typedef struct CvStereoBMState 1391 { 1392 // pre-filtering (normalization of input images) 1393 int preFilterType; // =CV_STEREO_BM_NORMALIZED_RESPONSE now 1394 int preFilterSize; // averaging window size: ~5x5..21x21 1395 int preFilterCap; // the output of pre-filtering is clipped by [-preFilterCap,preFilterCap] 1396 1397 // correspondence using Sum of Absolute Difference (SAD) 1398 int SADWindowSize; // ~5x5..21x21 1399 int minDisparity; // minimum disparity (can be negative) 1400 int numberOfDisparities; // maximum disparity - minimum disparity (> 0) 1401 1402 // post-filtering 1403 int textureThreshold; // the disparity is only computed for pixels 1404 // with textured enough neighborhood 1405 int uniquenessRatio; // accept the computed disparity d* only if 1406 // SAD(d) >= SAD(d*)*(1 + uniquenessRatio/100.) 1407 // for any d != d*+/-1 within the search range. 1408 int speckleWindowSize; // disparity variation window 1409 int speckleRange; // acceptable range of variation in window 1410 1411 // temporary buffers 1412 CvMat* preFilteredImg0; 1413 CvMat* preFilteredImg1; 1414 CvMat* slidingSumBuf; 1415 } 1416 CvStereoBMState; 1417 1418 #define CV_STEREO_BM_BASIC 0 1419 #define CV_STEREO_BM_FISH_EYE 1 1420 #define CV_STEREO_BM_NARROW 2 1421 1422 CVAPI(CvStereoBMState*) cvCreateStereoBMState(int preset CV_DEFAULT(CV_STEREO_BM_BASIC), 1423 int numberOfDisparities CV_DEFAULT(0)); 1424 1425 CVAPI(void) cvReleaseStereoBMState( CvStereoBMState** state ); 1426 1427 CVAPI(void) cvFindStereoCorrespondenceBM( const CvArr* left, const CvArr* right, 1428 CvArr* disparity, CvStereoBMState* state ); 1429 1430 /* Kolmogorov-Zabin stereo-correspondence algorithm (a.k.a. KZ1) */ 1431 #define CV_STEREO_GC_OCCLUDED SHRT_MAX 1432 1433 typedef struct CvStereoGCState 1434 { 1435 int Ithreshold; 1436 int interactionRadius; 1437 float K, lambda, lambda1, lambda2; 1438 int occlusionCost; 1439 int minDisparity; 1440 int numberOfDisparities; 1441 int maxIters; 1442 1443 CvMat* left; 1444 CvMat* right; 1445 CvMat* dispLeft; 1446 CvMat* dispRight; 1447 CvMat* ptrLeft; 1448 CvMat* ptrRight; 1449 CvMat* vtxBuf; 1450 CvMat* edgeBuf; 1451 } 1452 CvStereoGCState; 1453 1454 CVAPI(CvStereoGCState*) cvCreateStereoGCState( int numberOfDisparities, int maxIters ); 1455 CVAPI(void) cvReleaseStereoGCState( CvStereoGCState** state ); 1456 1457 CVAPI(void) cvFindStereoCorrespondenceGC( const CvArr* left, const CvArr* right, 1458 CvArr* disparityLeft, CvArr* disparityRight, 1459 CvStereoGCState* state, 1460 int useDisparityGuess CV_DEFAULT(0) ); 1461 1462 /* Reprojects the computed disparity image to the 3D space using the specified 4x4 matrix */ 1463 CVAPI(void) cvReprojectImageTo3D( const CvArr* disparityImage, 1464 CvArr* _3dImage, const CvMat* Q ); 1465 1466 #ifdef __cplusplus 1467 } 1468 #endif 1469 1470 #ifdef __cplusplus 1471 #include "cv.hpp" 1472 #endif 1473 1474 /****************************************************************************************\ 1475 * Backward compatibility * 1476 \****************************************************************************************/ 1477 1478 #ifndef CV_NO_BACKWARD_COMPATIBILITY 1479 #include "cvcompat.h" 1480 #endif 1481 1482 #endif /*_CV_H_*/ 1483
