cvcompat.h

Ch is an embeddable C/C++ interpreter for cross platform scripting, 2D/3D plotting, numerical compu

#define cvNormMask(imgA,imgB,mask,normType) cvNorm(imgA,imgB,normType,mask)

#define cvMinMaxLocMask(img, mask, min_val, max_val, min_loc, max_loc) \
        cvMinMaxLoc(img, min_val, max_val, min_loc, max_loc, mask)

#define cvRemoveMemoryManager  cvSetMemoryManager

#define cvmSetZero( mat )               cvSetZero( mat )
#define cvmSetIdentity( mat )           cvSetIdentity( mat )
#define cvmAdd( src1, src2, dst )       cvAdd( src1, src2, dst, 0 )
#define cvmSub( src1, src2, dst )       cvSub( src1, src2, dst, 0 )
#define cvmCopy( src, dst )             cvCopy( src, dst, 0 )
#define cvmMul( src1, src2, dst )       cvMatMulAdd( src1, src2, 0, dst )
#define cvmTranspose( src, dst )        cvT( src, dst )
#define cvmInvert( src, dst )           cvInv( src, dst )
#define cvmMahalanobis(vec1, vec2, mat) cvMahalanobis( vec1, vec2, mat )
#define cvmDotProduct( vec1, vec2 )     cvDotProduct( vec1, vec2 )
#define cvmCrossProduct(vec1, vec2,dst) cvCrossProduct( vec1, vec2, dst )
#define cvmTrace( mat )                 (cvTrace( mat )).val[0]
#define cvmMulTransposed( src, dst, order ) cvMulTransposed( src, dst, order )
#define cvmEigenVV( mat, evec, eval, eps)   cvEigenVV( mat, evec, eval, eps )
#define cvmDet( mat )                   cvDet( mat )
#define cvmScale( src, dst, scale )     cvScale( src, dst, scale )

#define cvCopyImage( src, dst )         cvCopy( src, dst, 0 )
#define cvReleaseMatHeader              cvReleaseMat

/* Calculates exact convex hull of 2d point set */
CV_INLINE void cvConvexHull( CvPoint* points, int num_points,
                             CvRect* CV_UNREFERENCED(bound_rect),
                             int orientation, int* hull, int* hullsize )
{
    CvMat points1 = cvMat( 1, num_points, CV_32SC2, points );
    CvMat hull1 = cvMat( 1, num_points, CV_32SC1, hull );
    
    cvConvexHull2( &points1, &hull1, orientation, 0 );
    *hullsize = hull1.cols;
}

/* Calculates exact convex hull of 2d point set stored in a sequence */
#define cvContourConvexHull( contour, orientation, storage ) \
    cvConvexHull2( contour, storage, orientation )

/* Calculates approximate convex hull of 2d point set */
#define cvConvexHullApprox( points, num_points, bound_rect, bandwidth,      \
                            orientation, hull, hullsize )                   \
cvConvexHull( points, num_points, bound_rect, orientation, hull, hullsize )

/* Calculates approximate convex hull of 2d point set stored in a sequence */
#define cvContourConvexHullApprox( contour, bandwidth, orientation, storage )   \
    cvConvexHull2( contour, storage, orientation )


CV_INLINE void cvMinAreaRect( CvPoint* points, int n,
                              int CV_UNREFERENCED(left), int CV_UNREFERENCED(bottom),
                              int CV_UNREFERENCED(right), int CV_UNREFERENCED(top),
                              CvPoint2D32f* anchor,
                              CvPoint2D32f* vect1,
                              CvPoint2D32f* vect2 )
{
    CvMat mat = cvMat( 1, n, CV_32SC2, points );
    CvBox2D box = cvMinAreaRect2( &mat, 0 );
    CvPoint2D32f pt[4];

    cvBoxPoints( box, pt );
    *anchor = pt[0];
    vect1->x = pt[1].x - pt[0].x;
    vect1->y = pt[1].y - pt[0].y;
    vect2->x = pt[3].x - pt[0].x;
    vect2->y = pt[3].y - pt[0].y;

    CV_UNREFERENCED( (left, bottom, right, top) );
}

typedef int CvDisType;
typedef int CvChainApproxMethod;
typedef int CvContourRetrievalMode;

CV_INLINE  void  cvFitLine3D( CvPoint3D32f* points, int count, int dist,
                              void *param, float reps, float aeps, float* line )
{
    CvMat mat = cvMat( 1, count, CV_32FC3, points );
    float _param = param != NULL ? *(float*)param : 0.f;
    assert( dist != CV_DIST_USER );
    cvFitLine( &mat, dist, _param, reps, aeps, line );
}

/* Fits a line into set of 2d points in a robust way (M-estimator technique) */ 
CV_INLINE  void  cvFitLine2D( CvPoint2D32f* points, int count, int dist,
                              void *param, float reps, float aeps, float* line )
{
    CvMat mat = cvMat( 1, count, CV_32FC2, points );
    float _param = param != NULL ? *(float*)param : 0.f;
    assert( dist != CV_DIST_USER );
    cvFitLine( &mat, dist, _param, reps, aeps, line );
}


CV_INLINE  void cvFitEllipse( const CvPoint2D32f* points, int count, CvBox2D* box )
{
    CvMat mat = cvMat( 1, count, CV_32FC2, (void*)points );
    *box = cvFitEllipse2( &mat );
}

/* Projects 2d points to one of standard coordinate planes
   (i.e. removes one of coordinates) */
CV_INLINE  void  cvProject3D( CvPoint3D32f* points3D, int count,
                              CvPoint2D32f* points2D,
                              int xIndx CV_DEFAULT(0),
                              int yIndx CV_DEFAULT(1))
{
    CvMat src = cvMat( 1, count, CV_32FC3, points3D );
    CvMat dst = cvMat( 1, count, CV_32FC2, points2D );
    float m[6] = {0,0,0,0,0,0};
    CvMat M = cvMat( 2, 3, CV_32F, m );
    
    assert( (unsigned)xIndx < 3 && (unsigned)yIndx < 3 );
    m[xIndx] = m[yIndx+3] = 1.f;

    cvTransform( &src, &dst, &M, NULL );
}


/* Retrieves value of the particular bin
   of x-dimensional (x=1,2,3,...) histogram */
#define cvQueryHistValue_1D( hist, idx0 ) \
    ((float)cvGetReal1D( (hist)->bins, (idx0)))
#define cvQueryHistValue_2D( hist, idx0, idx1 ) \
    ((float)cvGetReal2D( (hist)->bins, (idx0), (idx1)))
#define cvQueryHistValue_3D( hist, idx0, idx1, idx2 ) \
    ((float)cvGetReal3D( (hist)->bins, (idx0), (idx1), (idx2)))
#define cvQueryHistValue_nD( hist, idx ) \
    ((float)cvGetRealND( (hist)->bins, (idx)))

/* Returns pointer to the particular bin of x-dimesional histogram.
   For sparse histogram the bin is created if it didn't exist before */
#define cvGetHistValue_1D( hist, idx0 ) \
    ((float*)cvPtr1D( (hist)->bins, (idx0), 0))
#define cvGetHistValue_2D( hist, idx0, idx1 ) \
    ((float*)cvPtr2D( (hist)->bins, (idx0), (idx1), 0))
#define cvGetHistValue_3D( hist, idx0, idx1, idx2 ) \
    ((float*)cvPtr3D( (hist)->bins, (idx0), (idx1), (idx2), 0))
#define cvGetHistValue_nD( hist, idx ) \
    ((float*)cvPtrND( (hist)->bins, (idx), 0))


#define CV_IS_SET_ELEM_EXISTS CV_IS_SET_ELEM


CV_INLINE  int  cvHoughLines( CvArr* image, double rho,
                              double theta, int threshold,
                              float* lines, int linesNumber )
{
    CvMat linesMat = cvMat( 1, linesNumber, CV_32FC2, lines ); 
    cvHoughLines2( image, &linesMat, CV_HOUGH_STANDARD,
                   rho, theta, threshold, 0, 0 );

    return linesMat.cols;
}


CV_INLINE  int  cvHoughLinesP( CvArr* image, double rho,
                               double theta, int threshold,
                               int lineLength, int lineGap,
                               int* lines, int linesNumber )
{
    CvMat linesMat = cvMat( 1, linesNumber, CV_32SC4, lines ); 
    cvHoughLines2( image, &linesMat, CV_HOUGH_PROBABILISTIC,
                   rho, theta, threshold, lineLength, lineGap );

    return linesMat.cols;
}


CV_INLINE  int  cvHoughLinesSDiv( CvArr* image, double rho, int srn,
                                  double theta, int stn, int threshold,
                                  float* lines, int linesNumber )
{
    CvMat linesMat = cvMat( 1, linesNumber, CV_32FC2, lines ); 
    cvHoughLines2( image, &linesMat, CV_HOUGH_MULTI_SCALE,
                   rho, theta, threshold, srn, stn );

    return linesMat.cols;
}


/* Find fundamental matrix */
CV_INLINE  void  cvFindFundamentalMatrix( int* points1, int* points2,
                            int numpoints, int CV_UNREFERENCED(method), float* matrix )
{
    CvMat* pointsMat1;
    CvMat* pointsMat2;
    CvMat fundMatr = cvMat(3,3,CV_32F,matrix);
    int i, curr = 0;

    pointsMat1 = cvCreateMat(3,numpoints,CV_64F);
    pointsMat2 = cvCreateMat(3,numpoints,CV_64F);

    for( i = 0; i < numpoints; i++ )
    {
        cvmSet(pointsMat1,0,i,points1[curr]);//x
        cvmSet(pointsMat1,1,i,points1[curr+1]);//y
        cvmSet(pointsMat1,2,i,1.0);

        cvmSet(pointsMat2,0,i,points2[curr]);//x
        cvmSet(pointsMat2,1,i,points2[curr+1]);//y
        cvmSet(pointsMat2,2,i,1.0);
        curr += 2;
    }

    cvFindFundamentalMat(pointsMat1,pointsMat2,&fundMatr,CV_FM_RANSAC,1,0.99,0);

    cvReleaseMat(&pointsMat1);
    cvReleaseMat(&pointsMat2);
}



CV_INLINE int
cvFindChessBoardCornerGuesses( const void* arr, void* CV_UNREFERENCED(thresharr),
                               CvMemStorage * CV_UNREFERENCED(storage),
                               CvSize pattern_size, CvPoint2D32f * corners,
                               int *corner_count )
{
    return cvFindChessboardCorners( arr, pattern_size, corners,
                                    corner_count, CV_CALIB_CB_ADAPTIVE_THRESH );
}


/* Calibrates camera using multiple views of calibration pattern */
CV_INLINE void cvCalibrateCamera( int image_count, int* _point_counts,
    CvSize image_size, CvPoint2D32f* _image_points, CvPoint3D32f* _object_points,
    float* _distortion_coeffs, float* _camera_matrix, float* _translation_vectors,
    float* _rotation_matrices, int flags )
{
    int i, total = 0;
    CvMat point_counts = cvMat( image_count, 1, CV_32SC1, _point_counts );
    CvMat image_points, object_points;
    CvMat dist_coeffs = cvMat( 4, 1, CV_32FC1, _distortion_coeffs );
    CvMat camera_matrix = cvMat( 3, 3, CV_32FC1, _camera_matrix );
    CvMat rotation_matrices = cvMat( image_count, 9, CV_32FC1, _rotation_matrices );
    CvMat translation_vectors = cvMat( image_count, 3, CV_32FC1, _translation_vectors );

    for( i = 0; i < image_count; i++ )
        total += _point_counts[i];

    image_points = cvMat( total, 1, CV_32FC2, _image_points );
    object_points = cvMat( total, 1, CV_32FC3, _object_points );

    cvCalibrateCamera2( &object_points, &image_points, &point_counts, image_size,
        &camera_matrix, &dist_coeffs, &rotation_matrices, &translation_vectors,
        flags );
}


CV_INLINE void cvCalibrateCamera_64d( int image_count, int* _point_counts,
    CvSize image_size, CvPoint2D64f* _image_points, CvPoint3D64f* _object_points,
    double* _distortion_coeffs, double* _camera_matrix, double* _translation_vectors,
    double* _rotation_matrices, int flags )
{
    int i, total = 0;
    CvMat point_counts = cvMat( image_count, 1, CV_32SC1, _point_counts );
    CvMat image_points, object_points;
    CvMat dist_coeffs = cvMat( 4, 1, CV_64FC1, _distortion_coeffs );
    CvMat camera_matrix = cvMat( 3, 3, CV_64FC1, _camera_matrix );
    CvMat rotation_matrices = cvMat( image_count, 9, CV_64FC1, _rotation_matrices );
    CvMat translation_vectors = cvMat( image_count, 3, CV_64FC1, _translation_vectors );

    for( i = 0; i < image_count; i++ )
        total += _point_counts[i];

    image_points = cvMat( total, 1, CV_64FC2, _image_points );
    object_points = cvMat( total, 1, CV_64FC3, _object_points );

    cvCalibrateCamera2( &object_points, &image_points, &point_counts, image_size,
        &camera_matrix, &dist_coeffs, &rotation_matrices, &translation_vectors,
        flags );
}



/* Find 3d position of object given intrinsic camera parameters,
   3d model of the object and projection of the object into view plane */
CV_INLINE void cvFindExtrinsicCameraParams( int point_count,
    CvSize CV_UNREFERENCED(image_size), CvPoint2D32f* _image_points,
    CvPoint3D32f* _object_points, float* focal_length,
    CvPoint2D32f principal_point, float* _distortion_coeffs,
    float* _rotation_vector, float* _translation_vector )
{
    CvMat image_points = cvMat( point_count, 1, CV_32FC2, _image_points );
    CvMat object_points = cvMat( point_count, 1, CV_32FC3, _object_points );
    CvMat dist_coeffs = cvMat( 4, 1, CV_32FC1, _distortion_coeffs );
    float a[9];
    CvMat camera_matrix = cvMat( 3, 3, CV_32FC1, a );
    CvMat rotation_vector = cvMat( 1, 1, CV_32FC3, _rotation_vector );
    CvMat translation_vector = cvMat( 1, 1, CV_32FC3, _translation_vector );

    a[0] = focal_length[0]; a[4] = focal_length[1];
    a[2] = principal_point.x; a[5] = principal_point.y;
    a[1] = a[3] = a[6] = a[7] = 0.f;
    a[8] = 1.f;

    cvFindExtrinsicCameraParams2( &object_points, &image_points, &camera_matrix,
        &dist_coeffs, &rotation_vector, &translation_vector );
}


/* Variant of the previous function that takes double-precision parameters */
CV_INLINE void cvFindExtrinsicCameraParams_64d( int point_count,
    CvSize CV_UNREFERENCED(image_size), CvPoint2D64f* _image_points,
    CvPoint3D64f* _object_points, double* focal_length,
    CvPoint2D64f principal_point, double* _distortion_coeffs,
    double* _rotation_vector, double* _translation_vector )
{
    CvMat image_points = cvMat( point_count, 1, CV_64FC2, _image_points );
    CvMat object_points = cvMat( point_count, 1, CV_64FC3, _object_points );
    CvMat dist_coeffs = cvMat( 4, 1, CV_64FC1, _distortion_coeffs );
    double a[9];
    CvMat camera_matrix = cvMat( 3, 3, CV_64FC1, a );
    CvMat rotation_vector = cvMat( 1, 1, CV_64FC3, _rotation_vector );
    CvMat translation_vector = cvMat( 1, 1, CV_64FC3, _translation_vector );

    a[0] = focal_length[0]; a[4] = focal_length[1];
    a[2] = principal_point.x; a[5] = principal_point.y;
    a[1] = a[3] = a[6] = a[7] = 0.;
    a[8] = 1.;

    cvFindExtrinsicCameraParams2( &object_points, &image_points, &camera_matrix,
        &dist_coeffs, &rotation_vector, &translation_vector );
}


/* Rodrigues transform */
#define CV_RODRIGUES_M2V  0
#define CV_RODRIGUES_V2M  1

/* Converts rotation_matrix matrix to rotation_matrix vector or vice versa */
CV_INLINE void  cvRodrigues( CvMat* rotation_matrix, CvMat* rotation_vector,
                             CvMat* jacobian, int conv_type )
{
    if( conv_type == CV_RODRIGUES_V2M )
        cvRodrigues2( rotation_vector, rotation_matrix, jacobian );
    else
        cvRodrigues2( rotation_matrix, rotation_vector, jacobian );
}


/* Does reprojection of 3d object points to the view plane */
CV_INLINE void  cvProjectPoints( int point_count, CvPoint3D64f* _object_points,
    double* _rotation_vector, double*  _translation_vector,
    double* focal_length, CvPoint2D64f principal_point,