cvaux.h.svn-base

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/****************************************************************************************
 tracking_info is a rectangular array; one row per camera, num_objects elements per row.
 The id field of any unused slots must be -1. Ids need not be ordered or consecutive. On
 completion, the return value is the number of objects located; i.e., the number of objects
 visible by more than one camera. The id field of any unused slots in tracked objects is
 set to -1.
****************************************************************************************/


/****************************************************************************************\
*                           Skeletons and Linear-Contour Models                          *
\****************************************************************************************/

typedef enum CvLeeParameters
{
    CV_LEE_INT = 0,
    CV_LEE_FLOAT = 1,
    CV_LEE_DOUBLE = 2,
    CV_LEE_AUTO = -1,
    CV_LEE_ERODE = 0,
    CV_LEE_ZOOM = 1,
    CV_LEE_NON = 2
} CvLeeParameters;

#define CV_NEXT_VORONOISITE2D( SITE ) ((SITE)->edge[0]->site[((SITE)->edge[0]->site[0] == (SITE))])
#define CV_PREV_VORONOISITE2D( SITE ) ((SITE)->edge[1]->site[((SITE)->edge[1]->site[0] == (SITE))])
#define CV_FIRST_VORONOIEDGE2D( SITE ) ((SITE)->edge[0])
#define CV_LAST_VORONOIEDGE2D( SITE ) ((SITE)->edge[1])
#define CV_NEXT_VORONOIEDGE2D( EDGE, SITE ) ((EDGE)->next[(EDGE)->site[0] != (SITE)])
#define CV_PREV_VORONOIEDGE2D( EDGE, SITE ) ((EDGE)->next[2 + ((EDGE)->site[0] != (SITE))])
#define CV_VORONOIEDGE2D_BEGINNODE( EDGE, SITE ) ((EDGE)->node[((EDGE)->site[0] != (SITE))])
#define CV_VORONOIEDGE2D_ENDNODE( EDGE, SITE ) ((EDGE)->node[((EDGE)->site[0] == (SITE))])
#define CV_TWIN_VORONOISITE2D( SITE, EDGE ) ( (EDGE)->site[((EDGE)->site[0] == (SITE))]) 

#define CV_VORONOISITE2D_FIELDS()    \
    struct CvVoronoiNode2D *node[2]; \
    struct CvVoronoiEdge2D *edge[2];

typedef struct CvVoronoiSite2D
{
    CV_VORONOISITE2D_FIELDS()
    struct CvVoronoiSite2D *next[2];
} CvVoronoiSite2D;

#define CV_VORONOIEDGE2D_FIELDS()    \
    struct CvVoronoiNode2D *node[2]; \
    struct CvVoronoiSite2D *site[2]; \
    struct CvVoronoiEdge2D *next[4];

typedef struct CvVoronoiEdge2D
{
    CV_VORONOIEDGE2D_FIELDS()
} CvVoronoiEdge2D;

#define CV_VORONOINODE2D_FIELDS()       \
    CV_SET_ELEM_FIELDS(CvVoronoiNode2D) \
    CvPoint2D32f pt;                    \
    float radius;

typedef struct CvVoronoiNode2D
{
    CV_VORONOINODE2D_FIELDS()
} CvVoronoiNode2D;

#define CV_VORONOIDIAGRAM2D_FIELDS() \
    CV_GRAPH_FIELDS()                \
    CvSet *sites;

typedef struct CvVoronoiDiagram2D
{
    CV_VORONOIDIAGRAM2D_FIELDS()
} CvVoronoiDiagram2D;

/* Computes Voronoi Diagram for given polygons with holes */
OPENCVAUXAPI int  cvVoronoiDiagramFromContour(CvSeq* ContourSeq,
                                           CvVoronoiDiagram2D** VoronoiDiagram,
                                           CvMemStorage* VoronoiStorage,
                                           CvLeeParameters contour_type CV_DEFAULT(CV_LEE_INT),
                                           int contour_orientation CV_DEFAULT(-1),
                                           int attempt_number CV_DEFAULT(10));

/* Computes Voronoi Diagram for domains in given image */
OPENCVAUXAPI int  cvVoronoiDiagramFromImage(IplImage* pImage,
                                         CvSeq** ContourSeq,
                                         CvVoronoiDiagram2D** VoronoiDiagram,
                                         CvMemStorage* VoronoiStorage,
                                         CvLeeParameters regularization_method CV_DEFAULT(CV_LEE_NON),
                                         float approx_precision CV_DEFAULT(CV_LEE_AUTO));

/* Deallocates the storage */
OPENCVAUXAPI void cvReleaseVoronoiStorage(CvVoronoiDiagram2D* VoronoiDiagram,
                                          CvMemStorage** pVoronoiStorage);

/*********************** Linear-Contour Model ****************************/

struct CvLCMEdge;
struct CvLCMNode;

typedef struct CvLCMEdge
{
    CV_GRAPH_EDGE_FIELDS() 
    CvSeq* chain;
    float width;
    int index1;
    int index2;
} CvLCMEdge;

typedef struct CvLCMNode
{
    CV_GRAPH_VERTEX_FIELDS()
    CvContour* contour; 
} CvLCMNode;


/* Computes hybrid model from Voronoi Diagram */
OPENCVAUXAPI CvGraph* cvLinearContorModelFromVoronoiDiagram(CvVoronoiDiagram2D* VoronoiDiagram,
                                                         float maxWidth);

/* Releases hybrid model storage */
OPENCVAUXAPI int cvReleaseLinearContorModelStorage(CvGraph** Graph);

/****************************************************************************************\
*                                   Calibration engine                                   *
\****************************************************************************************/

OPENCVAUXAPI void cvInitPerspectiveTransform( CvSize size, const CvPoint2D32f vertex[4], double matrix[3][3],
                                              CvArr* rectMap );

OPENCVAUXAPI void cvInitStereoRectification( CvStereoCamera* params,
                                             CvArr* rectMap1, CvArr* rectMap2,
                                             int do_undistortion );

#ifdef __cplusplus

typedef enum CvCalibEtalonType
{
    CV_CALIB_ETALON_USER = -1,
    CV_CALIB_ETALON_CHESSBOARD = 0,
    CV_CALIB_ETALON_CHECKERBOARD = CV_CALIB_ETALON_CHESSBOARD
}
CvCalibEtalonType;

class CVAUX_DLL_ENTRY CvCalibFilter
{
public:
    /* Constructor & destructor */
    CvCalibFilter();
    virtual ~CvCalibFilter();

    /* Sets etalon type - one for all cameras.
       etalonParams is used in case of pre-defined etalons (such as chessboard).
       Number of elements in etalonParams is determined by etalonType.
       E.g., if etalon type is CV_ETALON_TYPE_CHESSBOARD then:
         etalonParams[0] is number of squares per one side of etalon
         etalonParams[1] is number of squares per another side of etalon
         etalonParams[2] is linear size of squares in the board in arbitrary units.
       pointCount & points are used in case of
       CV_CALIB_ETALON_USER (user-defined) etalon. */
    virtual bool
        SetEtalon( CvCalibEtalonType etalonType, double* etalonParams,
                   int pointCount = 0, CvPoint2D32f* points = 0 );

    /* Retrieves etalon parameters/or and points */
    virtual CvCalibEtalonType
        GetEtalon( int* paramCount = 0, const double** etalonParams = 0,
                   int* pointCount = 0, const CvPoint2D32f** etalonPoints = 0 ) const;

    /* Sets number of cameras calibrated simultaneously. It is equal to 1 initially */
    virtual void SetCameraCount( int cameraCount );

    /* Retrieves number of cameras */
    int GetCameraCount() const { return cameraCount; }

    /* Starts cameras calibration */
    virtual bool SetFrames( int totalFrames );
    
    /* Stops cameras calibration */
    virtual void Stop( bool calibrate = false );

    /* Retrieves number of cameras */
    bool IsCalibrated() const { return isCalibrated; }

    /* Feeds another serie of snapshots (one per each camera) to filter.
       Etalon points on these images are found automatically.
       If the function can't locate points, it returns false */
    virtual bool FindEtalon( IplImage** imgs );

    /* The same but takes matrices */
    virtual bool FindEtalon( CvMat** imgs );

    /* Lower-level function for feeding filter with already found etalon points.
       Array of point arrays for each camera is passed. */
    virtual bool Push( const CvPoint2D32f** points = 0 );

    /* Returns total number of accepted frames and, optionally,
       total number of frames to collect */
    virtual int GetFrameCount( int* framesTotal = 0 ) const;

    /* Retrieves camera parameters for specified camera.
       If camera is not calibrated the function returns 0 */
    virtual const CvCamera* GetCameraParams( int idx = 0 ) const;

    virtual const CvStereoCamera* GetStereoParams() const;

    /* Sets camera parameters for all cameras */
    virtual bool SetCameraParams( CvCamera* params );

    /* Saves all camera parameters to file */
    virtual bool SaveCameraParams( const char* filename );
    
    /* Loads all camera parameters from file */
    virtual bool LoadCameraParams( const char* filename );

    /* Undistorts images using camera parameters. Some of src pointers can be NULL. */
    virtual bool Undistort( IplImage** src, IplImage** dst );

    /* Undistorts images using camera parameters. Some of src pointers can be NULL. */
    virtual bool Undistort( CvMat** src, CvMat** dst );

    /* Returns array of etalon points detected/partally detected
       on the latest frame for idx-th camera */
    virtual bool GetLatestPoints( int idx, CvPoint2D32f** pts,
                                                  int* count, bool* found );

    /* Draw the latest detected/partially detected etalon */
    virtual void DrawPoints( IplImage** dst );

    /* Draw the latest detected/partially detected etalon */
    virtual void DrawPoints( CvMat** dst );

    virtual bool Rectify( IplImage** srcarr, IplImage** dstarr );
    virtual bool Rectify( CvMat** srcarr, CvMat** dstarr );

protected:

    enum { MAX_CAMERAS = 3 };

    /* etalon data */
    CvCalibEtalonType  etalonType;
    int     etalonParamCount;
    double* etalonParams;
    int     etalonPointCount;
    CvPoint2D32f* etalonPoints;
    CvSize  imgSize;
    CvMat*  grayImg;
    CvMat*  tempImg;
    CvMemStorage* storage;

    /* camera data */
    int     cameraCount;
    CvCamera cameraParams[MAX_CAMERAS];
    CvStereoCamera stereo;
    CvPoint2D32f* points[MAX_CAMERAS];
    CvMat*  undistMap[MAX_CAMERAS];
    CvMat*  undistImg;
    int     latestCounts[MAX_CAMERAS];
    CvPoint2D32f* latestPoints[MAX_CAMERAS];
    CvMat*  rectMap[MAX_CAMERAS];

    /* Added by Valery */
    //CvStereoCamera stereoParams;

    int     maxPoints;
    int     framesTotal;
    int     framesAccepted;
    bool    isCalibrated;
};

#endif


/****************************************************************************************\
*                                    Utility Functions                                   *
\****************************************************************************************/

/* helper functions for RNG initialization and accurate time measurement: x86 only */
OPENCVAUXAPI int64  cvGetTickCount( void );
OPENCVAUXAPI double cvGetTickFrequency(); 

#ifdef __cplusplus
#include "cvaux.hpp"
#include "cvmat.hpp"
#endif

#endif

/* End of file. */