mirror of
https://github.com/opencv/opencv.git
synced 2026-07-28 06:43:01 +04:00
Alexander Smorkalov
40ddc700aa
Inverted imgproc-geometry dependency and moved more functions to geometry #29230 Fixes: https://github.com/opencv/opencv/issues/20267 Continues: https://github.com/opencv/opencv/pull/29175 OpenCV Contrib: https://github.com/opencv/opencv_contrib/pull/4137 OpenCV Extra: https://github.com/opencv/opencv_extra/pull/1377 Summary: - LSD returned back to imgproc - drawing functions moved to imgproc - undistort image and related perf-pixel functions moved to imgproc - moments moved to geometry - estimateXXXtransform moved to geometry After the patch the geometry module depends on code and Flann and may be used everywhere without potential circular dependencies ### Pull Request Readiness Checklist See details at https://github.com/opencv/opencv/wiki/How_to_contribute#making-a-good-pull-request - [x] I agree to contribute to the project under Apache 2 License. - [x] To the best of my knowledge, the proposed patch is not based on a code under GPL or another license that is incompatible with OpenCV - [ ] The PR is proposed to the proper branch - [ ] There is a reference to the original bug report and related work - [ ] There is accuracy test, performance test and test data in opencv_extra repository, if applicable Patch to opencv_extra has the same branch name. - [ ] The feature is well documented and sample code can be built with the project CMake
1033 lines
32 KiB
C++
1033 lines
32 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "precomp.hpp"
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#include "opencv2/core/hal/intrin.hpp"
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#include "opencv2/core/softfloat.hpp"
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using namespace cv;
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double cv::pointPolygonTest( InputArray _contour, Point2f pt, bool measureDist )
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{
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CV_INSTRUMENT_REGION();
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double result = 0;
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Mat contour = _contour.getMat();
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int i, total = contour.checkVector(2), counter = 0;
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int depth = contour.depth();
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CV_Assert( total >= 0 && (depth == CV_32S || depth == CV_32F));
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bool is_float = depth == CV_32F;
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double min_dist_num = FLT_MAX, min_dist_denom = 1;
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Point ip(cvRound(pt.x), cvRound(pt.y));
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if( total == 0 )
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return measureDist ? -DBL_MAX : -1;
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const Point* cnt = contour.ptr<Point>();
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const Point2f* cntf = (const Point2f*)cnt;
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if( !is_float && !measureDist && ip.x == pt.x && ip.y == pt.y )
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{
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// the fastest "purely integer" branch
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Point v0, v = cnt[total-1];
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for( i = 0; i < total; i++ )
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{
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v0 = v;
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v = cnt[i];
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if( (v0.y <= ip.y && v.y <= ip.y) ||
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(v0.y > ip.y && v.y > ip.y) ||
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(v0.x < ip.x && v.x < ip.x) )
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{
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if( ip.y == v.y && (ip.x == v.x || (ip.y == v0.y &&
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((v0.x <= ip.x && ip.x <= v.x) || (v.x <= ip.x && ip.x <= v0.x)))) )
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return 0;
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continue;
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}
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int64 dist = static_cast<int64>(ip.y - v0.y)*(v.x - v0.x)
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- static_cast<int64>(ip.x - v0.x)*(v.y - v0.y);
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if( dist == 0 )
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return 0;
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if( v.y < v0.y )
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dist = -dist;
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counter += dist > 0;
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}
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result = counter % 2 == 0 ? -1 : 1;
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}
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else
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{
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Point2f v0, v;
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if( is_float )
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{
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v = cntf[total-1];
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}
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else
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{
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v = cnt[total-1];
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}
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if( !measureDist )
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{
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for( i = 0; i < total; i++ )
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{
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double dist;
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v0 = v;
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if( is_float )
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v = cntf[i];
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else
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v = cnt[i];
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if( (v0.y <= pt.y && v.y <= pt.y) ||
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(v0.y > pt.y && v.y > pt.y) ||
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(v0.x < pt.x && v.x < pt.x) )
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{
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if( pt.y == v.y && (pt.x == v.x || (pt.y == v0.y &&
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((v0.x <= pt.x && pt.x <= v.x) || (v.x <= pt.x && pt.x <= v0.x)))) )
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return 0;
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continue;
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}
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dist = (double)(pt.y - v0.y)*(v.x - v0.x) - (double)(pt.x - v0.x)*(v.y - v0.y);
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if( dist == 0 )
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return 0;
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if( v.y < v0.y )
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dist = -dist;
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counter += dist > 0;
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}
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result = counter % 2 == 0 ? -1 : 1;
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}
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else
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{
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for( i = 0; i < total; i++ )
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{
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double dx, dy, dx1, dy1, dx2, dy2, dist_num, dist_denom = 1;
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v0 = v;
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if( is_float )
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v = cntf[i];
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else
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v = cnt[i];
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dx = v.x - v0.x; dy = v.y - v0.y;
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dx1 = pt.x - v0.x; dy1 = pt.y - v0.y;
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dx2 = pt.x - v.x; dy2 = pt.y - v.y;
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if( dx1*dx + dy1*dy <= 0 )
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dist_num = dx1*dx1 + dy1*dy1;
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else if( dx2*dx + dy2*dy >= 0 )
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dist_num = dx2*dx2 + dy2*dy2;
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else
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{
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dist_num = (dy1*dx - dx1*dy);
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dist_num *= dist_num;
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dist_denom = dx*dx + dy*dy;
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}
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if( dist_num*min_dist_denom < min_dist_num*dist_denom )
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{
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min_dist_num = dist_num;
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min_dist_denom = dist_denom;
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if( min_dist_num == 0 )
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break;
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}
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if( (v0.y <= pt.y && v.y <= pt.y) ||
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(v0.y > pt.y && v.y > pt.y) ||
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(v0.x < pt.x && v.x < pt.x) )
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continue;
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dist_num = dy1*dx - dx1*dy;
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if( dy < 0 )
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dist_num = -dist_num;
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counter += dist_num > 0;
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}
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result = std::sqrt(min_dist_num/min_dist_denom);
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if( counter % 2 == 0 )
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result = -result;
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}
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}
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return result;
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}
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/*
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This code is described in "Computational Geometry in C" (Second Edition),
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Chapter 7. It is not written to be comprehensible without the
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explanation in that book.
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Written by Joseph O'Rourke.
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Last modified: December 1997
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Questions to orourke@cs.smith.edu.
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--------------------------------------------------------------------
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This code is Copyright 1997 by Joseph O'Rourke. It may be freely
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redistributed in its entirety provided that this copyright notice is
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not removed.
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--------------------------------------------------------------------
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*/
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namespace cv
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{
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typedef enum { Pin, Qin, Unknown } tInFlag;
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static int areaSign( Point2f a, Point2f b, Point2f c )
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{
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static const double eps = 1e-5;
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double area2 = (b.x - a.x) * (double)(c.y - a.y) - (c.x - a.x ) * (double)(b.y - a.y);
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return area2 > eps ? 1 : area2 < -eps ? -1 : 0;
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}
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//---------------------------------------------------------------------
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// Returns true iff point c lies on the closed segment ab.
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// Assumes it is already known that abc are collinear.
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//---------------------------------------------------------------------
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static bool between( Point2f a, Point2f b, Point2f c )
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{
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Point2f ba, ca;
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// If ab not vertical, check betweenness on x; else on y.
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if ( a.x != b.x )
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return ((a.x <= c.x) && (c.x <= b.x)) ||
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((a.x >= c.x) && (c.x >= b.x));
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else
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return ((a.y <= c.y) && (c.y <= b.y)) ||
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((a.y >= c.y) && (c.y >= b.y));
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}
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enum LineSegmentIntersection
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{
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LS_NO_INTERSECTION = 0,
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LS_SINGLE_INTERSECTION = 1,
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LS_OVERLAP = 2,
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LS_ENDPOINT_INTERSECTION = 3
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};
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static LineSegmentIntersection parallelInt( Point2f a, Point2f b, Point2f c, Point2f d, Point2f& p, Point2f& q )
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{
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LineSegmentIntersection code = LS_OVERLAP;
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if( areaSign(a, b, c) != 0 )
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code = LS_NO_INTERSECTION;
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else if( between(a, b, c) && between(a, b, d))
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p = c, q = d;
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else if( between(c, d, a) && between(c, d, b))
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p = a, q = b;
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else if( between(a, b, c) && between(c, d, b))
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p = c, q = b;
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else if( between(a, b, c) && between(c, d, a))
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p = c, q = a;
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else if( between(a, b, d) && between(c, d, b))
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p = d, q = b;
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else if( between(a, b, d) && between(c, d, a))
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p = d, q = a;
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else
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code = LS_NO_INTERSECTION;
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return code;
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}
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// Finds intersection of two line segments: (a, b) and (c, d).
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static LineSegmentIntersection intersectLineSegments( Point2f a, Point2f b, Point2f c,
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Point2f d, Point2f& p, Point2f& q )
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{
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double denom = ((double)a.x - b.x) * ((double)d.y - c.y) - ((double)a.y - b.y) * ((double)d.x - c.x);
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// If denom is zero, then segments are parallel: handle separately.
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if( denom == 0. )
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return parallelInt(a, b, c, d, p, q);
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double num = ((double)d.y - a.y) * ((double)a.x - c.x) + ((double)a.x - d.x) * ((double)a.y - c.y);
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double s = num / denom;
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num = ((double)b.y - a.y) * ((double)a.x - c.x) + ((double)c.y - a.y) * ((double)b.x - a.x);
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double t = num / denom;
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p.x = (float)(a.x + s*((double)b.x - a.x));
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p.y = (float)(a.y + s*((double)b.y - a.y));
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q = p;
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return s < 0. || s > 1. || t < 0. || t > 1. ? LS_NO_INTERSECTION :
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s == 0. || s == 1. || t == 0. || t == 1. ? LS_ENDPOINT_INTERSECTION : LS_SINGLE_INTERSECTION;
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}
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static tInFlag inOut( Point2f p, tInFlag inflag, int aHB, int bHA, Point2f*& result )
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{
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if( p != result[-1] )
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*result++ = p;
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// Update inflag.
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return aHB > 0 ? Pin : bHA > 0 ? Qin : inflag;
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}
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//---------------------------------------------------------------------
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// Advances and prints out an inside vertex if appropriate.
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//---------------------------------------------------------------------
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static int advance( int a, int *aa, int n, bool inside, Point2f v, Point2f*& result )
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{
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if( inside && v != result[-1] )
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*result++ = v;
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(*aa)++;
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return (a+1) % n;
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}
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static void addSharedSeg( Point2f p, Point2f q, Point2f*& result )
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{
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if( p != result[-1] )
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*result++ = p;
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if( q != result[-1] )
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*result++ = q;
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}
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// Note: The function and subroutings use direct pointer arithmetics instead of arrays indexing.
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// Each loop iteration may push to result array up to 3 times.
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// It means that we need +3 spare result elements against result_size
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// to catch agorithmic overflow and prevent actual result array overflow.
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static int intersectConvexConvex_( const Point2f* P, int n, const Point2f* Q, int m,
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Point2f* result, int result_size, float* _area )
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{
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Point2f* result0 = result;
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// P has n vertices, Q has m vertices.
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int a=0, b=0; // indices on P and Q (resp.)
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Point2f Origin(0,0);
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tInFlag inflag=Unknown; // {Pin, Qin, Unknown}: which inside
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int aa=0, ba=0; // # advances on a & b indices (after 1st inter.)
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bool FirstPoint=true;// Is this the first point? (used to initialize).
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Point2f p0; // The first point.
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*result++ = Point2f(FLT_MAX, FLT_MAX);
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do
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{
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// Computations of key variables.
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int a1 = (a + n - 1) % n; // a-1, b-1 (resp.)
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int b1 = (b + m - 1) % m;
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Point2f A = P[a] - P[a1], B = Q[b] - Q[b1]; // directed edges on P and Q (resp.)
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int cross = areaSign( Origin, A, B ); // sign of z-component of A x B
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int aHB = areaSign( Q[b1], Q[b], P[a] ); // a in H(b).
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int bHA = areaSign( P[a1], P[a], Q[b] ); // b in H(A);
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// If A & B intersect, update inflag.
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Point2f p, q;
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LineSegmentIntersection code = intersectLineSegments( P[a1], P[a], Q[b1], Q[b], p, q );
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if( code == LS_SINGLE_INTERSECTION || code == LS_ENDPOINT_INTERSECTION )
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{
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if( inflag == Unknown && FirstPoint )
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{
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aa = ba = 0;
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FirstPoint = false;
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p0 = p;
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*result++ = p;
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}
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inflag = inOut( p, inflag, aHB, bHA, result );
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}
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//-----Advance rules-----
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// Special case: A & B overlap and oppositely oriented.
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if( code == LS_OVERLAP && A.ddot(B) < 0 )
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{
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addSharedSeg( p, q, result );
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return (int)(result - result0);
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}
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// Special case: A & B parallel and separated.
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if( cross == 0 && aHB < 0 && bHA < 0 )
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return (int)(result - result0);
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// Special case: A & B collinear.
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else if ( cross == 0 && aHB == 0 && bHA == 0 ) {
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// Advance but do not output point.
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if ( inflag == Pin )
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b = advance( b, &ba, m, inflag == Qin, Q[b], result );
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else
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a = advance( a, &aa, n, inflag == Pin, P[a], result );
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}
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// Generic cases.
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else if( cross >= 0 )
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{
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if( bHA > 0)
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a = advance( a, &aa, n, inflag == Pin, P[a], result );
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else
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b = advance( b, &ba, m, inflag == Qin, Q[b], result );
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}
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else
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{
|
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if( aHB > 0)
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b = advance( b, &ba, m, inflag == Qin, Q[b], result );
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else
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a = advance( a, &aa, n, inflag == Pin, P[a], result );
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}
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// Quit when both adv. indices have cycled, or one has cycled twice.
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}
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while ( ((aa < n) || (ba < m)) && (aa < 2*n) && (ba < 2*m) && ((int)(result - result0) <= result_size) );
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// Deal with special cases: not implemented.
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if( inflag == Unknown )
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{
|
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// The boundaries of P and Q do not cross.
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// ...
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}
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int nr = (int)(result - result0);
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if (nr > result_size)
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{
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*_area = -1.f;
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return -1;
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}
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|
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double area = 0;
|
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Point2f prev = result0[nr-1];
|
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for(int i = 1; i < nr; i++ )
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{
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result0[i-1] = result0[i];
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area += (double)prev.x*result0[i].y - (double)prev.y*result0[i].x;
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prev = result0[i];
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}
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*_area = (float)(area*0.5);
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|
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if( result0[nr-2] == result0[0] && nr > 1 )
|
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nr--;
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return nr-1;
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}
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|
|
// area of a whole sequence
|
|
double contourArea( InputArray _contour, bool oriented )
|
|
{
|
|
CV_INSTRUMENT_REGION();
|
|
|
|
Mat contour = _contour.getMat();
|
|
int npoints = contour.checkVector(2);
|
|
int depth = contour.depth();
|
|
CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_32S));
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|
|
|
if( npoints == 0 )
|
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return 0.;
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|
|
double a00 = 0;
|
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bool is_float = depth == CV_32F;
|
|
const Point* ptsi = contour.ptr<Point>();
|
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const Point2f* ptsf = contour.ptr<Point2f>();
|
|
Point2f prev = is_float ? ptsf[npoints-1] : Point2f((float)ptsi[npoints-1].x, (float)ptsi[npoints-1].y);
|
|
|
|
for( int i = 0; i < npoints; i++ )
|
|
{
|
|
Point2f p = is_float ? ptsf[i] : Point2f((float)ptsi[i].x, (float)ptsi[i].y);
|
|
a00 += (double)prev.x * p.y - (double)prev.y * p.x;
|
|
prev = p;
|
|
}
|
|
|
|
a00 *= 0.5;
|
|
if( !oriented )
|
|
a00 = fabs(a00);
|
|
|
|
return a00;
|
|
}
|
|
|
|
// calculates length of a curve (e.g. contour perimeter)
|
|
double arcLength( InputArray _curve, bool is_closed )
|
|
{
|
|
CV_INSTRUMENT_REGION();
|
|
|
|
Mat curve = _curve.getMat();
|
|
int count = curve.checkVector(2);
|
|
int depth = curve.depth();
|
|
CV_Assert( count >= 0 && (depth == CV_32F || depth == CV_32S));
|
|
double perimeter = 0;
|
|
|
|
int i;
|
|
|
|
if( count <= 1 )
|
|
return 0.;
|
|
|
|
bool is_float = depth == CV_32F;
|
|
int last = is_closed ? count-1 : 0;
|
|
const Point* pti = curve.ptr<Point>();
|
|
const Point2f* ptf = curve.ptr<Point2f>();
|
|
|
|
Point2f prev = is_float ? ptf[last] : Point2f((float)pti[last].x,(float)pti[last].y);
|
|
|
|
for( i = 0; i < count; i++ )
|
|
{
|
|
Point2f p = is_float ? ptf[i] : Point2f((float)pti[i].x,(float)pti[i].y);
|
|
float dx = p.x - prev.x, dy = p.y - prev.y;
|
|
perimeter += std::sqrt(dx*dx + dy*dy);
|
|
|
|
prev = p;
|
|
}
|
|
|
|
return perimeter;
|
|
}
|
|
|
|
static Rect maskBoundingRect( const Mat& img )
|
|
{
|
|
CV_Assert( img.depth() <= CV_8S && img.channels() == 1 );
|
|
|
|
Size size = img.size();
|
|
int xmin = size.width, ymin = -1, xmax = -1, ymax = -1, i, j, k;
|
|
|
|
for( i = 0; i < size.height; i++ )
|
|
{
|
|
const uchar* _ptr = img.ptr(i);
|
|
const uchar* ptr = (const uchar*)alignPtr(_ptr, 4);
|
|
int have_nz = 0, k_min, offset = (int)(ptr - _ptr);
|
|
j = 0;
|
|
offset = MIN(offset, size.width);
|
|
for( ; j < offset; j++ )
|
|
if( _ptr[j] )
|
|
{
|
|
if( j < xmin )
|
|
xmin = j;
|
|
if( j > xmax )
|
|
xmax = j;
|
|
have_nz = 1;
|
|
}
|
|
if( offset < size.width )
|
|
{
|
|
xmin -= offset;
|
|
xmax -= offset;
|
|
size.width -= offset;
|
|
j = 0;
|
|
for( ; j <= xmin - 4; j += 4 )
|
|
if( *((int*)(ptr+j)) )
|
|
break;
|
|
for( ; j < xmin; j++ )
|
|
if( ptr[j] )
|
|
{
|
|
xmin = j;
|
|
if( j > xmax )
|
|
xmax = j;
|
|
have_nz = 1;
|
|
break;
|
|
}
|
|
k_min = MAX(j-1, xmax);
|
|
k = size.width - 1;
|
|
for( ; k > k_min && (k&3) != 3; k-- )
|
|
if( ptr[k] )
|
|
break;
|
|
if( k > k_min && (k&3) == 3 )
|
|
{
|
|
for( ; k > k_min+3; k -= 4 )
|
|
if( *((int*)(ptr+k-3)) )
|
|
break;
|
|
}
|
|
for( ; k > k_min; k-- )
|
|
if( ptr[k] )
|
|
{
|
|
xmax = k;
|
|
have_nz = 1;
|
|
break;
|
|
}
|
|
if( !have_nz )
|
|
{
|
|
j &= ~3;
|
|
for( ; j <= k - 3; j += 4 )
|
|
if( *((int*)(ptr+j)) )
|
|
break;
|
|
for( ; j <= k; j++ )
|
|
if( ptr[j] )
|
|
{
|
|
have_nz = 1;
|
|
break;
|
|
}
|
|
}
|
|
xmin += offset;
|
|
xmax += offset;
|
|
size.width += offset;
|
|
}
|
|
if( have_nz )
|
|
{
|
|
if( ymin < 0 )
|
|
ymin = i;
|
|
ymax = i;
|
|
}
|
|
}
|
|
|
|
if( xmin >= size.width )
|
|
xmin = ymin = 0;
|
|
return Rect(xmin, ymin, xmax - xmin + 1, ymax - ymin + 1);
|
|
}
|
|
|
|
// Calculates bounding rectangle of a point set or retrieves already calculated
|
|
static Rect pointSetBoundingRect( const Mat& points )
|
|
{
|
|
int npoints = points.checkVector(2);
|
|
int depth = points.depth();
|
|
CV_Assert(npoints >= 0 && (depth == CV_32F || depth == CV_32S));
|
|
|
|
int xmin = 0, ymin = 0, xmax = -1, ymax = -1, i = 0;
|
|
bool is_float = depth == CV_32F;
|
|
|
|
if( npoints == 0 )
|
|
return Rect();
|
|
|
|
if( !is_float )
|
|
{
|
|
const int32_t* pts = points.ptr<int32_t>();
|
|
int64_t firstval = 0;
|
|
std::memcpy(&firstval, pts, sizeof(pts[0]) * 2);
|
|
xmin = xmax = pts[0];
|
|
ymin = ymax = pts[1];
|
|
#if CV_SIMD || CV_SIMD_SCALABLE
|
|
v_int32 minval, maxval;
|
|
minval = maxval = v_reinterpret_as_s32(vx_setall_s64(firstval)); //min[0]=pt.x, min[1]=pt.y, min[2]=pt.x, min[3]=pt.y
|
|
const int nlanes = VTraits<v_int32>::vlanes()/2;
|
|
for (; i < npoints; i += nlanes)
|
|
{
|
|
if (i > npoints - nlanes)
|
|
{
|
|
if (i == 0)
|
|
break;
|
|
i = npoints - nlanes;
|
|
}
|
|
v_int32 ptXY2 = vx_load(pts + 2 * i);
|
|
minval = v_min(ptXY2, minval);
|
|
maxval = v_max(ptXY2, maxval);
|
|
}
|
|
constexpr int max_nlanes = VTraits<v_int32>::max_nlanes;
|
|
int arr_minval[max_nlanes], arr_maxval[max_nlanes];
|
|
vx_store(arr_minval, minval);
|
|
vx_store(arr_maxval, maxval);
|
|
for (int j = 0; j < nlanes; j++)
|
|
{
|
|
xmin = std::min(xmin, arr_minval[2*j]);
|
|
ymin = std::min(ymin, arr_minval[2*j+1]);
|
|
xmax = std::max(xmax, arr_maxval[2*j]);
|
|
ymax = std::max(ymax, arr_maxval[2*j+1]);
|
|
}
|
|
#endif
|
|
for( ; i < npoints; i++ )
|
|
{
|
|
int pt_x = pts[2*i];
|
|
int pt_y = pts[2*i+1];
|
|
|
|
xmin = std::min(xmin, pt_x);
|
|
xmax = std::max(xmax, pt_x);
|
|
ymin = std::min(ymin, pt_y);
|
|
ymax = std::max(ymax, pt_y);
|
|
}
|
|
}
|
|
else
|
|
{
|
|
const float* pts = points.ptr<float>();
|
|
int64_t firstval = 0;
|
|
std::memcpy(&firstval, pts, sizeof(pts[0]) * 2);
|
|
xmin = xmax = cvFloor(pts[0]);
|
|
ymin = ymax = cvFloor(pts[1]);
|
|
#if CV_SIMD || CV_SIMD_SCALABLE
|
|
v_float32 minval, maxval;
|
|
minval = maxval = v_reinterpret_as_f32(vx_setall_s64(firstval)); //min[0]=pt.x, min[1]=pt.y, min[2]=pt.x, min[3]=pt.y
|
|
const int nlanes = VTraits<v_float32>::vlanes()/2;
|
|
for (; i < npoints; i += nlanes)
|
|
{
|
|
if (i > npoints - nlanes)
|
|
{
|
|
if (i == 0)
|
|
break;
|
|
i = npoints - nlanes;
|
|
}
|
|
v_float32 ptXY2 = vx_load(pts + 2 * i);
|
|
minval = v_min(ptXY2, minval);
|
|
maxval = v_max(ptXY2, maxval);
|
|
}
|
|
constexpr int max_nlanes = VTraits<v_int32>::max_nlanes;
|
|
float arr_minval[max_nlanes], arr_maxval[max_nlanes];
|
|
vx_store(arr_minval, minval);
|
|
vx_store(arr_maxval, maxval);
|
|
for (int j = 0; j < nlanes; j++)
|
|
{
|
|
int _xmin = cvFloor(arr_minval[2*j]), _ymin = cvFloor(arr_minval[2*j+1]);
|
|
int _xmax = cvFloor(arr_maxval[2*j]), _ymax = cvFloor(arr_maxval[2*j+1]);
|
|
xmin = std::min(xmin, _xmin);
|
|
ymin = std::min(ymin, _ymin);
|
|
xmax = std::max(xmax, _xmax);
|
|
ymax = std::max(ymax, _ymax);
|
|
}
|
|
#endif
|
|
for( ; i < npoints; i++ )
|
|
{
|
|
// because right and bottom sides of the bounding rectangle are not inclusive
|
|
// (note +1 in width and height calculation below), cvFloor is used here instead of cvCeil
|
|
int pt_x = cvFloor(pts[2*i]);
|
|
int pt_y = cvFloor(pts[2*i+1]);
|
|
|
|
xmin = std::min(xmin, pt_x);
|
|
xmax = std::max(xmax, pt_x);
|
|
ymin = std::min(ymin, pt_y);
|
|
ymax = std::max(ymax, pt_y);
|
|
}
|
|
}
|
|
|
|
return Rect(xmin, ymin, xmax - xmin + 1, ymax - ymin + 1);
|
|
}
|
|
|
|
cv::Rect boundingRect(InputArray array)
|
|
{
|
|
CV_INSTRUMENT_REGION();
|
|
|
|
Mat m = array.getMat();
|
|
return m.depth() <= CV_8U ? maskBoundingRect(m) : pointSetBoundingRect(m);
|
|
}
|
|
|
|
cv::Matx23d getRotationMatrix2D_(Point2f center, double angle, double scale)
|
|
{
|
|
CV_INSTRUMENT_REGION();
|
|
|
|
angle *= CV_PI/180;
|
|
double alpha = std::cos(angle)*scale;
|
|
double beta = std::sin(angle)*scale;
|
|
|
|
Matx23d M(
|
|
alpha, beta, (1-alpha)*center.x - beta*center.y,
|
|
-beta, alpha, beta*center.x + (1-alpha)*center.y
|
|
);
|
|
return M;
|
|
}
|
|
|
|
/* Calculates coefficients of perspective transformation
|
|
* which maps (xi,yi) to (ui,vi), (i=1,2,3,4):
|
|
*
|
|
* c00*xi + c01*yi + c02
|
|
* ui = ---------------------
|
|
* c20*xi + c21*yi + c22
|
|
*
|
|
* c10*xi + c11*yi + c12
|
|
* vi = ---------------------
|
|
* c20*xi + c21*yi + c22
|
|
*
|
|
* Coefficients are calculated by solving one of 2 linear systems:
|
|
* / x0 y0 1 0 0 0 -x0*u0 -y0*u0 \ /c00\ /u0\
|
|
* | x1 y1 1 0 0 0 -x1*u1 -y1*u1 | |c01| |u1|
|
|
* | x2 y2 1 0 0 0 -x2*u2 -y2*u2 | |c02| |u2|
|
|
* | x3 y3 1 0 0 0 -x3*u3 -y3*u3 |.|c10|=|u3|,
|
|
* | 0 0 0 x0 y0 1 -x0*v0 -y0*v0 | |c11| |v0|
|
|
* | 0 0 0 x1 y1 1 -x1*v1 -y1*v1 | |c12| |v1|
|
|
* | 0 0 0 x2 y2 1 -x2*v2 -y2*v2 | |c20| |v2|
|
|
* \ 0 0 0 x3 y3 1 -x3*v3 -y3*v3 / \c21/ \v3/
|
|
*
|
|
* where:
|
|
* cij - matrix coefficients, c22 = 1
|
|
*
|
|
* or
|
|
*
|
|
* / x0 y0 1 0 0 0 -x0*u0 -y0*u0 -u0 \ /c00\ /0\
|
|
* | x1 y1 1 0 0 0 -x1*u1 -y1*u1 -u1 | |c01| |0|
|
|
* | x2 y2 1 0 0 0 -x2*u2 -y2*u2 -u2 | |c02| |0|
|
|
* | x3 y3 1 0 0 0 -x3*u3 -y3*u3 -u3 |.|c10|=|0|,
|
|
* | 0 0 0 x0 y0 1 -x0*v0 -y0*v0 -v0 | |c11| |0|
|
|
* | 0 0 0 x1 y1 1 -x1*v1 -y1*v1 -v1 | |c12| |0|
|
|
* | 0 0 0 x2 y2 1 -x2*v2 -y2*v2 -v2 | |c20| |0|
|
|
* \ 0 0 0 x3 y3 1 -x3*v3 -y3*v3 -v3 / |c21| \0/
|
|
* \c22/
|
|
*
|
|
* where:
|
|
* cij - matrix coefficients, c00^2 + c01^2 + c02^2 + c10^2 + c11^2 + c12^2 + c20^2 + c21^2 + c22^2 = 1
|
|
*/
|
|
cv::Mat getPerspectiveTransform(const Point2f src[], const Point2f dst[], int solveMethod)
|
|
{
|
|
CV_INSTRUMENT_REGION();
|
|
|
|
// try c22 = 1
|
|
Mat M(3, 3, CV_64F), X8(8, 1, CV_64F, M.ptr());
|
|
double a[8][8], b[8];
|
|
Mat A(8, 8, CV_64F, a), B(8, 1, CV_64F, b);
|
|
|
|
for( int i = 0; i < 4; ++i )
|
|
{
|
|
a[i][0] = a[i+4][3] = src[i].x;
|
|
a[i][1] = a[i+4][4] = src[i].y;
|
|
a[i][2] = a[i+4][5] = 1;
|
|
a[i][3] = a[i][4] = a[i][5] =
|
|
a[i+4][0] = a[i+4][1] = a[i+4][2] = 0;
|
|
a[i][6] = -src[i].x*dst[i].x;
|
|
a[i][7] = -src[i].y*dst[i].x;
|
|
a[i+4][6] = -src[i].x*dst[i].y;
|
|
a[i+4][7] = -src[i].y*dst[i].y;
|
|
b[i] = dst[i].x;
|
|
b[i+4] = dst[i].y;
|
|
}
|
|
|
|
if (solve(A, B, X8, solveMethod) && norm(A * X8, B) < 1e-8)
|
|
{
|
|
M.ptr<double>()[8] = 1.;
|
|
|
|
return M;
|
|
}
|
|
|
|
// c00^2 + c01^2 + c02^2 + c10^2 + c11^2 + c12^2 + c20^2 + c21^2 + c22^2 = 1
|
|
hconcat(A, -B, A);
|
|
|
|
Mat AtA;
|
|
mulTransposed(A, AtA, true);
|
|
|
|
Mat D, U;
|
|
SVDecomp(AtA, D, U, noArray());
|
|
|
|
Mat X9(9, 1, CV_64F, M.ptr());
|
|
U.col(8).copyTo(X9);
|
|
|
|
return M;
|
|
}
|
|
|
|
/* Calculates coefficients of affine transformation
|
|
* which maps (xi,yi) to (ui,vi), (i=1,2,3):
|
|
*
|
|
* ui = c00*xi + c01*yi + c02
|
|
*
|
|
* vi = c10*xi + c11*yi + c12
|
|
*
|
|
* Coefficients are calculated by solving linear system:
|
|
* / x0 y0 1 0 0 0 \ /c00\ /u0\
|
|
* | x1 y1 1 0 0 0 | |c01| |u1|
|
|
* | x2 y2 1 0 0 0 | |c02| |u2|
|
|
* | 0 0 0 x0 y0 1 | |c10| |v0|
|
|
* | 0 0 0 x1 y1 1 | |c11| |v1|
|
|
* \ 0 0 0 x2 y2 1 / |c12| |v2|
|
|
*
|
|
* where:
|
|
* cij - matrix coefficients
|
|
*/
|
|
|
|
cv::Mat getAffineTransform( const Point2f src[], const Point2f dst[] )
|
|
{
|
|
Mat M(2, 3, CV_64F), X(6, 1, CV_64F, M.ptr());
|
|
double a[6*6], b[6];
|
|
Mat A(6, 6, CV_64F, a), B(6, 1, CV_64F, b);
|
|
|
|
for( int i = 0; i < 3; i++ )
|
|
{
|
|
int j = i*12;
|
|
int k = i*12+6;
|
|
a[j] = a[k+3] = src[i].x;
|
|
a[j+1] = a[k+4] = src[i].y;
|
|
a[j+2] = a[k+5] = 1;
|
|
a[j+3] = a[j+4] = a[j+5] = 0;
|
|
a[k] = a[k+1] = a[k+2] = 0;
|
|
b[i*2] = dst[i].x;
|
|
b[i*2+1] = dst[i].y;
|
|
}
|
|
|
|
solve( A, B, X );
|
|
return M;
|
|
}
|
|
|
|
void invertAffineTransform(InputArray _matM, OutputArray __iM)
|
|
{
|
|
Mat matM = _matM.getMat();
|
|
CV_Assert(matM.rows == 2 && matM.cols == 3);
|
|
__iM.create(2, 3, matM.type());
|
|
Mat _iM = __iM.getMat();
|
|
|
|
if( matM.type() == CV_32F )
|
|
{
|
|
const softfloat* M = matM.ptr<softfloat>();
|
|
softfloat* iM = _iM.ptr<softfloat>();
|
|
int step = (int)(matM.step/sizeof(M[0])), istep = (int)(_iM.step/sizeof(iM[0]));
|
|
|
|
softdouble D = M[0]*M[step+1] - M[1]*M[step];
|
|
D = D != 0. ? softdouble(1.)/D : softdouble(0.);
|
|
softdouble A11 = M[step+1]*D, A22 = M[0]*D, A12 = -M[1]*D, A21 = -M[step]*D;
|
|
softdouble b1 = -A11*M[2] - A12*M[step+2];
|
|
softdouble b2 = -A21*M[2] - A22*M[step+2];
|
|
|
|
iM[0] = A11; iM[1] = A12; iM[2] = b1;
|
|
iM[istep] = A21; iM[istep+1] = A22; iM[istep+2] = b2;
|
|
}
|
|
else if( matM.type() == CV_64F )
|
|
{
|
|
const softdouble* M = matM.ptr<softdouble>();
|
|
softdouble* iM = _iM.ptr<softdouble>();
|
|
int step = (int)(matM.step/sizeof(M[0])), istep = (int)(_iM.step/sizeof(iM[0]));
|
|
|
|
softdouble D = M[0]*M[step+1] - M[1]*M[step];
|
|
D = D != 0. ? softdouble(1.)/D : softdouble(0.);
|
|
softdouble A11 = M[step+1]*D, A22 = M[0]*D, A12 = -M[1]*D, A21 = -M[step]*D;
|
|
softdouble b1 = -A11*M[2] - A12*M[step+2];
|
|
softdouble b2 = -A21*M[2] - A22*M[step+2];
|
|
|
|
iM[0] = A11; iM[1] = A12; iM[2] = b1;
|
|
iM[istep] = A21; iM[istep+1] = A22; iM[istep+2] = b2;
|
|
}
|
|
else
|
|
CV_Error( cv::Error::StsUnsupportedFormat, "" );
|
|
}
|
|
|
|
cv::Mat getPerspectiveTransform(InputArray _src, InputArray _dst, int solveMethod)
|
|
{
|
|
Mat src = _src.getMat(), dst = _dst.getMat();
|
|
CV_Assert(src.checkVector(2, CV_32F) == 4 && dst.checkVector(2, CV_32F) == 4);
|
|
return getPerspectiveTransform((const Point2f*)src.data, (const Point2f*)dst.data, solveMethod);
|
|
}
|
|
|
|
cv::Mat getAffineTransform(InputArray _src, InputArray _dst)
|
|
{
|
|
Mat src = _src.getMat(), dst = _dst.getMat();
|
|
CV_Assert(src.checkVector(2, CV_32F) == 3 && dst.checkVector(2, CV_32F) == 3);
|
|
return getAffineTransform((const Point2f*)src.data, (const Point2f*)dst.data);
|
|
}
|
|
|
|
float intersectConvexConvex( InputArray _p1, InputArray _p2, OutputArray _p12, bool handleNested )
|
|
{
|
|
CV_INSTRUMENT_REGION();
|
|
|
|
Mat p1 = _p1.getMat(), p2 = _p2.getMat();
|
|
CV_Assert( p1.depth() == CV_32S || p1.depth() == CV_32F );
|
|
CV_Assert( p2.depth() == CV_32S || p2.depth() == CV_32F );
|
|
|
|
int n = p1.checkVector(2, p1.depth(), true);
|
|
int m = p2.checkVector(2, p2.depth(), true);
|
|
|
|
CV_Assert( n >= 0 && m >= 0 );
|
|
|
|
if( n < 2 || m < 2 )
|
|
{
|
|
_p12.release();
|
|
return 0.f;
|
|
}
|
|
|
|
AutoBuffer<Point2f> _result(n + m + n+m+1+3);
|
|
Point2f* fp1 = _result.data();
|
|
Point2f* fp2 = fp1 + n;
|
|
Point2f* result = fp2 + m;
|
|
|
|
int orientation = 0;
|
|
|
|
for( int k = 1; k <= 2; k++ )
|
|
{
|
|
Mat& p = k == 1 ? p1 : p2;
|
|
int len = k == 1 ? n : m;
|
|
Point2f* dst = k == 1 ? fp1 : fp2;
|
|
|
|
Mat temp(p.size(), CV_MAKETYPE(CV_32F, p.channels()), dst);
|
|
p.convertTo(temp, CV_32F);
|
|
CV_Assert( temp.ptr<Point2f>() == dst );
|
|
Point2f diff0 = dst[0] - dst[len-1];
|
|
for( int i = 1; i < len; i++ )
|
|
{
|
|
double s = diff0.cross(dst[i] - dst[i-1]);
|
|
if( s != 0 )
|
|
{
|
|
if( s < 0 )
|
|
{
|
|
orientation++;
|
|
flip( temp, temp, temp.rows > 1 ? 0 : 1 );
|
|
}
|
|
break;
|
|
}
|
|
}
|
|
}
|
|
|
|
float area = 0.f;
|
|
int nr = intersectConvexConvex_(fp1, n, fp2, m, result, n+m+1, &area);
|
|
|
|
if (nr < 0)
|
|
{
|
|
// The algorithm did not converge, e.g. some of inputs is not convex
|
|
_p12.release();
|
|
return -1.f;
|
|
}
|
|
|
|
if( nr == 0 )
|
|
{
|
|
if( !handleNested )
|
|
{
|
|
_p12.release();
|
|
return 0.f;
|
|
}
|
|
|
|
bool intersected = false;
|
|
|
|
// check if all of fp2's vertices is inside/on the edge of fp1.
|
|
int nVertices = 0;
|
|
for (int i=0; i<m; ++i)
|
|
nVertices += pointPolygonTest(_InputArray(fp1, n), fp2[i], false) >= 0;
|
|
|
|
// if all of fp2's vertices is inside/on the edge of fp1.
|
|
if (nVertices == m)
|
|
{
|
|
intersected = true;
|
|
result = fp2;
|
|
nr = m;
|
|
}
|
|
else // otherwise check if fp2 is inside fp1.
|
|
{
|
|
nVertices = 0;
|
|
for (int i=0; i<n; ++i)
|
|
nVertices += pointPolygonTest(_InputArray(fp2, m), fp1[i], false) >= 0;
|
|
|
|
// // if all of fp1's vertices is inside/on the edge of fp2.
|
|
if (nVertices == n)
|
|
{
|
|
intersected = true;
|
|
result = fp1;
|
|
nr = n;
|
|
}
|
|
}
|
|
|
|
if (!intersected)
|
|
{
|
|
_p12.release();
|
|
return 0.f;
|
|
}
|
|
|
|
area = (float)contourArea(_InputArray(result, nr), false);
|
|
}
|
|
|
|
if( _p12.needed() )
|
|
{
|
|
Mat temp(nr, 1, CV_32FC2, result);
|
|
// if both input contours were reflected,
|
|
// let's orient the result as the input vectors
|
|
if( orientation == 2 )
|
|
flip(temp, temp, 0);
|
|
|
|
temp.copyTo(_p12);
|
|
}
|
|
return (float)fabs(area);
|
|
}
|
|
|
|
} // namespace cv
|