C++ InputArray::kind方法代码示例

void cv::viz::vtkTrajectorySource::SetTrajectory(InputArray _traj)
{
    CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
    CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));

    Mat traj;
    _traj.getMat().convertTo(traj, CV_64F);
    const Affine3d* dpath = traj.ptr<Affine3d>();
    size_t total = traj.total();

    points = vtkSmartPointer<vtkPoints>::New();
    points->SetDataType(VTK_DOUBLE);
    points->SetNumberOfPoints((vtkIdType)total);

    tensors = vtkSmartPointer<vtkDoubleArray>::New();
    tensors->SetNumberOfComponents(9);
    tensors->SetNumberOfTuples((vtkIdType)total);

    for(size_t i = 0; i < total; ++i, ++dpath)
    {
        Matx33d R = dpath->rotation().t();  // transposed because of
        tensors->SetTuple((vtkIdType)i, R.val);        // column major order

        Vec3d p = dpath->translation();
        points->SetPoint((vtkIdType)i, p.val);
    }
}

        void calcPosition( InputArray _tvecs, InputArray _rvecs, InputArray _pts,
                           InputArray _cameraMatrices, InputArray _distortionMatrices,
                           OutputArray _state, OutputArray _covariance )
        {
            Ptr< PositionCalculator > p_pc = PositionCalculator::create();

            std::vector< Mat > tvecs, rvecs;
            _tvecs.getMatVector( tvecs );
            _rvecs.getMatVector( rvecs );

            CV_Assert( tvecs.size() >= 2 );
            CV_Assert( tvecs.size() == rvecs.size() );

            Mat pts = _pts.getMat();

            CV_Assert( ( tvecs.size() == pts.checkVector( 2, CV_32F, true ) ) );

            std::vector< Mat > camera_m, dist_m;
            if ( _cameraMatrices.kind() == _InputArray::STD_VECTOR_MAT )
            {
                _cameraMatrices.getMatVector( camera_m );
                CV_Assert( tvecs.size() == camera_m.size() );
            }
            else
            {
                camera_m.push_back( _cameraMatrices.getMat() );
                CV_Assert( ( camera_m[0].rows == 3 ) && ( camera_m[0].cols == 3 ) );
            }

            if ( _distortionMatrices.kind() == _InputArray::STD_VECTOR_MAT )
            {
                _distortionMatrices.getMatVector( dist_m );
                CV_Assert( tvecs.size() == dist_m.size() );
            }
            else
            {
                dist_m.push_back( _distortionMatrices.getMat() );
                CV_Assert( ( ( dist_m[0].rows == 5 ) && ( dist_m[0].cols == 1 ) ) || dist_m[0].empty() );
            }

            Mat camera = camera_m[0];
            Mat dist = dist_m[0];
            for ( size_t i = 0; i < tvecs.size(); ++i )
            {
                if ( camera_m.size() == tvecs.size() )
                    camera = camera_m[i];
                if ( dist_m.size() == tvecs.size() )
                    dist = dist_m[i];
                p_pc->addMeasurement( tvecs[i], rvecs[i], pts.at< Point2f >( i ), camera, dist );
            }
            p_pc->computeState( _state, _covariance );
        }

void cv::superres::arrCopy(InputArray src, OutputArray dst)
{
    if (dst.isUMat() || src.isUMat())
    {
        src.copyTo(dst);
        return;
    }

    typedef void (*func_t)(InputArray src, OutputArray dst);
    static const func_t funcs[10][10] =
    {
        { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
        { 0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, 0, mat2gpu },
        { 0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, 0, mat2gpu },
        { 0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, 0, mat2gpu },
        { 0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, 0, mat2gpu },
        { 0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, 0, mat2gpu },
        { 0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, 0, mat2gpu },
        { 0, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, 0, buf2arr },
        { 0, 0, 0, 0, 0, 0, 0, 0, 0, 0 },
        { 0, gpu2mat, gpu2mat, gpu2mat, gpu2mat, gpu2mat, gpu2mat, arr2buf, 0 , gpu2gpu },
    };

    const int src_kind = src.kind() >> _InputArray::KIND_SHIFT;
    const int dst_kind = dst.kind() >> _InputArray::KIND_SHIFT;

    CV_Assert( src_kind >= 0 && src_kind < 10 );
    CV_Assert( dst_kind >= 0 && dst_kind < 10 );

    const func_t func = funcs[src_kind][dst_kind];
    CV_Assert( func != 0 );

    func(src, dst);
}

cv::ogl::Buffer::Buffer(InputArray arr, Target target, bool autoRelease) : rows_(0), cols_(0), type_(0)
{
#ifndef HAVE_OPENGL
    (void) arr;
    (void) target;
    (void) autoRelease;
    throw_no_ogl();
#else
    const int kind = arr.kind();

    switch (kind)
    {
    case _InputArray::OPENGL_BUFFER:
    case _InputArray::GPU_MAT:
        copyFrom(arr, target, autoRelease);
        break;

    default:
        {
            Mat mat = arr.getMat();
            CV_Assert( mat.isContinuous() );
            const GLsizeiptr asize = mat.rows * mat.cols * mat.elemSize();
            impl_.reset(new Impl(asize, mat.data, target, autoRelease));
            rows_ = mat.rows;
            cols_ = mat.cols;
            type_ = mat.type();
            break;
        }
    }
#endif
}

void cv::superres::arrCopy(InputArray src, OutputArray dst)
{
    typedef void (*func_t)(InputArray src, OutputArray dst);
    static const func_t funcs[10][10] =
    {
        {0, 0, 0, 0, 0, 0, 0, 0, 0, 0},
        {0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, arr2tex, mat2gpu},
        {0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, arr2tex, mat2gpu},
        {0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, arr2tex, mat2gpu},
        {0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, arr2tex, mat2gpu},
        {0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, arr2tex, mat2gpu},
        {0, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, mat2mat, arr2buf, arr2tex, mat2gpu},
        {0, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr, buf2arr},
        {0, tex2arr, tex2arr, tex2arr, tex2arr, tex2arr, tex2arr, tex2arr, tex2arr, tex2arr},
        {0, gpu2mat, gpu2mat, gpu2mat, gpu2mat, gpu2mat, gpu2mat, arr2buf, arr2tex, gpu2gpu}
    };

    const int src_kind = src.kind() >> _InputArray::KIND_SHIFT;
    const int dst_kind = dst.kind() >> _InputArray::KIND_SHIFT;

    CV_DbgAssert( src_kind >= 0 && src_kind < 10 );
    CV_DbgAssert( dst_kind >= 0 && dst_kind < 10 );

    const func_t func = funcs[src_kind][dst_kind];
    CV_DbgAssert( func != 0 );

    func(src, dst);
}

cv::GlBuffer::GlBuffer(InputArray mat_, Usage _usage) : rows_(0), cols_(0), type_(0), usage_(_usage)
{
#ifndef HAVE_OPENGL
    (void)mat_;
    (void)_usage;
    throw_nogl;
#else
    int kind = mat_.kind();
    Size _size = mat_.size();
    int _type = mat_.type();

    if (kind == _InputArray::GPU_MAT)
    {
        #if !defined HAVE_CUDA || defined(CUDA_DISABLER)
            throw_nocuda;
        #else
            GpuMat d_mat = mat_.getGpuMat();
            impl_ = new Impl(d_mat.rows, d_mat.cols, d_mat.type(), _usage);
            impl_->copyFrom(d_mat);
        #endif
    }
    else
    {
        Mat mat = mat_.getMat();
        impl_ = new Impl(mat, _usage);
    }

    rows_ = _size.height;
    cols_ = _size.width;
    type_ = _type;
#endif
}

void cv::imshow( const String& winname, InputArray _img )
{
    CV_TRACE_FUNCTION();
    const Size size = _img.size();
#ifndef HAVE_OPENGL
    CV_Assert(size.width>0 && size.height>0);
    {
        Mat img = _img.getMat();
        CvMat c_img = cvMat(img);
        cvShowImage(winname.c_str(), &c_img);
    }
#else
    const double useGl = getWindowProperty(winname, WND_PROP_OPENGL);
    CV_Assert(size.width>0 && size.height>0);

    if (useGl <= 0)
    {
        Mat img = _img.getMat();
        CvMat c_img = cvMat(img);
        cvShowImage(winname.c_str(), &c_img);
    }
    else
    {
        const double autoSize = getWindowProperty(winname, WND_PROP_AUTOSIZE);

        if (autoSize > 0)
        {
            resizeWindow(winname, size.width, size.height);
        }

        setOpenGlContext(winname);

        cv::ogl::Texture2D& tex = ownWndTexs[winname];

        if (_img.kind() == _InputArray::CUDA_GPU_MAT)
        {
            cv::ogl::Buffer& buf = ownWndBufs[winname];
            buf.copyFrom(_img);
            buf.setAutoRelease(false);

            tex.copyFrom(buf);
            tex.setAutoRelease(false);
        }
        else
        {
            tex.copyFrom(_img);
        }

        tex.setAutoRelease(false);

        setOpenGlDrawCallback(winname, glDrawTextureCallback, &tex);

        updateWindow(winname);
    }
#endif
}

cv::Mat cv::viz::vtkTrajectorySource::ExtractPoints(InputArray _traj)
{
    CV_Assert(_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT);
    CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));

    Mat points(1, (int)_traj.total(), CV_MAKETYPE(_traj.depth(), 3));
    const Affine3d* dpath = _traj.getMat().ptr<Affine3d>();
    const Affine3f* fpath = _traj.getMat().ptr<Affine3f>();

    if (_traj.depth() == CV_32F)
        for(int i = 0; i < points.cols; ++i)
            points.at<Vec3f>(i) = fpath[i].translation();

    if (_traj.depth() == CV_64F)
        for(int i = 0; i < points.cols; ++i)
            points.at<Vec3d>(i) = dpath[i].translation();

    return points;
}

void cv::ogl::Arrays::setColorArray(InputArray color)
{
    const int cn = color.channels();

    CV_Assert( cn == 3 || cn == 4 );

    if (color.kind() == _InputArray::OPENGL_BUFFER)
        color_ = color.getOGlBuffer();
    else
        color_.copyFrom(color);
}

Mat getMat(InputArray arr)
{
    if (arr.kind() == _InputArray::GPU_MAT)
    {
        Mat m;
        arr.getGpuMat().download(m);
        return m;
    }

    return arr.getMat();
}

void cv::ogl::Buffer::copyFrom(InputArray arr, Target target, bool autoRelease)
{
#ifndef HAVE_OPENGL
    (void) arr;
    (void) target;
    (void) autoRelease;
    throw_nogl();
#else
    const int kind = arr.kind();

    if (kind == _InputArray::OPENGL_TEXTURE)
    {
        ogl::Texture2D tex = arr.getOGlTexture2D();
        tex.copyTo(*this);
        setAutoRelease(autoRelease);
        return;
    }

    const Size asize = arr.size();
    const int atype = arr.type();
    create(asize, atype, target, autoRelease);

    switch (kind)
    {
    case _InputArray::OPENGL_BUFFER:
        {
            ogl::Buffer buf = arr.getOGlBuffer();
            impl_->copyFrom(buf.bufId(), asize.area() * CV_ELEM_SIZE(atype));
            break;
        }

    case _InputArray::GPU_MAT:
        {
            #if !defined HAVE_CUDA || defined(CUDA_DISABLER)
                throw_nocuda();
            #else
                GpuMat dmat = arr.getGpuMat();
                impl_->copyFrom(dmat.data, dmat.step, dmat.cols * dmat.elemSize(), dmat.rows);
            #endif

            break;
        }

    default:
        {
            Mat mat = arr.getMat();
            CV_Assert( mat.isContinuous() );
            impl_->copyFrom(asize.area() * CV_ELEM_SIZE(atype), mat.data);
        }
    }
#endif
}

void cv::viz::writeTrajectory(InputArray _traj, const String& files_format, int start, const String& tag)
{
    if (_traj.kind() == _InputArray::STD_VECTOR_MAT)
    {
#if CV_MAJOR_VERSION < 3
        std::vector<Mat>& v = *(std::vector<Mat>*)_traj.obj;
#else
        std::vector<Mat>& v = *(std::vector<Mat>*)_traj.getObj();
#endif

        for(size_t i = 0, index = max(0, start); i < v.size(); ++i, ++index)
        {
            Affine3d affine;
            Mat pose = v[i];
            CV_Assert(pose.type() == CV_32FC(16) || pose.type() == CV_64FC(16));
            pose.copyTo(affine.matrix);
            writePose(cv::format(files_format.c_str(), index), affine, tag);
        }
        return;
    }

    if (_traj.kind() == _InputArray::STD_VECTOR || _traj.kind() == _InputArray::MAT)
    {
        CV_Assert(_traj.type() == CV_32FC(16) || _traj.type() == CV_64FC(16));

        Mat traj = _traj.getMat();

        if (traj.depth() == CV_32F)
            for(size_t i = 0, index = max(0, start); i < traj.total(); ++i, ++index)
                writePose(cv::format(files_format.c_str(), index), traj.at<Affine3f>((int)i), tag);

        if (traj.depth() == CV_64F)
            for(size_t i = 0, index = max(0, start); i < traj.total(); ++i, ++index)
                writePose(cv::format(files_format.c_str(), index), traj.at<Affine3d>((int)i), tag);
        return;
    }

    CV_Error(Error::StsError, "Unsupported array kind");
}

UMat cv::superres::arrGetUMat(InputArray arr, UMat& buf)
{
    switch (arr.kind())
    {
    case _InputArray::CUDA_GPU_MAT:
        arr.getGpuMat().download(buf);
        return buf;

    case _InputArray::OPENGL_BUFFER:
        arr.getOGlBuffer().copyTo(buf);
        return buf;

    default:
        return arr.getUMat();
    }
}

GpuMat cv::superres::arrGetGpuMat(InputArray arr, GpuMat& buf)
{
    switch (arr.kind())
    {
    case _InputArray::GPU_MAT:
        return arr.getGpuMat();

    case _InputArray::OPENGL_BUFFER:
        arr.getOGlBuffer().copyTo(buf);
        return buf;

    default:
        buf.upload(arr.getMat());
        return buf;
    }
}

void cv::GlTexture::copyFrom(InputArray mat_, bool bgra)
{
#ifndef HAVE_OPENGL
    (void)mat_;
    (void)bgra;
    throw_nogl;
#else
    int kind = mat_.kind();
    Size _size = mat_.size();
    int _type = mat_.type();

    create(_size, _type);

    switch(kind)
    {
    case _InputArray::OPENGL_TEXTURE:
        {
            GlTexture tex = mat_.getGlTexture();
            *this = tex;
            break;
        }
    case _InputArray::OPENGL_BUFFER:
        {
            GlBuffer buf = mat_.getGlBuffer();
            impl_->copyFrom(buf, bgra);
            break;
        }
    case _InputArray::GPU_MAT:
        {
            #if !defined HAVE_CUDA || defined(CUDA_DISABLER)
                throw_nocuda;
            #else
                GpuMat d_mat = mat_.getGpuMat();
                buf_.copyFrom(d_mat);
                impl_->copyFrom(buf_, bgra);
            #endif

            break;
        }
    default:
        {
            Mat mat = mat_.getMat();
            impl_->copyFrom(mat, bgra);
        }
    }
#endif
}