org.bytedeco.opencv.global

Class opencv_rapid

java.lang.Object

org.bytedeco.opencv.presets.opencv_rapid

org.bytedeco.opencv.global.opencv_rapid

All Implemented Interfaces:

InfoMapper

public class opencv_rapid
extends opencv_rapid

Constructor Summary

Constructors

Constructor and Description
opencv_rapid()

Method Summary

Modifier and Type	Method and Description
static void	drawCorrespondencies(GpuMat bundle, GpuMat srcLocations, GpuMat newLocations)
static void	drawCorrespondencies(GpuMat bundle, GpuMat srcLocations, GpuMat newLocations, GpuMat colors)
static void	drawCorrespondencies(Mat bundle, Mat srcLocations, Mat newLocations)
static void	drawCorrespondencies(Mat bundle, Mat srcLocations, Mat newLocations, Mat colors) \addtogroup rapid \{
static void	drawCorrespondencies(UMat bundle, UMat srcLocations, UMat newLocations)
static void	drawCorrespondencies(UMat bundle, UMat srcLocations, UMat newLocations, UMat colors)
static void	drawSearchLines(GpuMat img, GpuMat locations, Scalar color)
static void	drawSearchLines(Mat img, Mat locations, Scalar color) Debug draw search lines onto an image
static void	drawSearchLines(UMat img, UMat locations, Scalar color)
static void	drawWireframe(GpuMat img, GpuMat pts2d, GpuMat tris, Scalar color)
static void	drawWireframe(GpuMat img, GpuMat pts2d, GpuMat tris, Scalar color, int type, boolean cullBackface)
static void	drawWireframe(Mat img, Mat pts2d, Mat tris, Scalar color)
static void	drawWireframe(Mat img, Mat pts2d, Mat tris, Scalar color, int type, boolean cullBackface) Draw a wireframe of a triangle mesh
static void	drawWireframe(UMat img, UMat pts2d, UMat tris, Scalar color)
static void	drawWireframe(UMat img, UMat pts2d, UMat tris, Scalar color, int type, boolean cullBackface)
static void	extractControlPoints(int num, int len, GpuMat pts3d, GpuMat rvec, GpuMat tvec, GpuMat K, Size imsize, GpuMat tris, GpuMat ctl2d, GpuMat ctl3d)
static void	extractControlPoints(int num, int len, Mat pts3d, Mat rvec, Mat tvec, Mat K, Size imsize, Mat tris, Mat ctl2d, Mat ctl3d) Extract control points from the projected silhouette of a mesh see \cite drummond2002real Sec 2.1, Step b
static void	extractControlPoints(int num, int len, UMat pts3d, UMat rvec, UMat tvec, UMat K, Size imsize, UMat tris, UMat ctl2d, UMat ctl3d)
static void	extractLineBundle(int len, GpuMat ctl2d, GpuMat img, GpuMat bundle, GpuMat srcLocations)
static void	extractLineBundle(int len, Mat ctl2d, Mat img, Mat bundle, Mat srcLocations) Extract the line bundle from an image
static void	extractLineBundle(int len, UMat ctl2d, UMat img, UMat bundle, UMat srcLocations)
static void	filterCorrespondencies(GpuMat pts2d, GpuMat pts3d, GpuMat mask)
static void	filterCorrespondencies(Mat pts2d, Mat pts3d, Mat mask) Filter corresponding 2d and 3d points based on mask
static void	filterCorrespondencies(UMat pts2d, UMat pts3d, UMat mask)
static void	findCorrespondencies(GpuMat bundle, GpuMat srcLocations, GpuMat newLocations)
static void	findCorrespondencies(GpuMat bundle, GpuMat srcLocations, GpuMat newLocations, GpuMat response)
static void	findCorrespondencies(Mat bundle, Mat srcLocations, Mat newLocations)
static void	findCorrespondencies(Mat bundle, Mat srcLocations, Mat newLocations, Mat response) Find corresponding image locations by searching for a maximal sobel edge along the search line (a single row in the bundle)
static void	findCorrespondencies(UMat bundle, UMat srcLocations, UMat newLocations)
static void	findCorrespondencies(UMat bundle, UMat srcLocations, UMat newLocations, UMat response)
static float	rapid(GpuMat img, int num, int len, GpuMat pts3d, GpuMat tris, GpuMat K, GpuMat rvec, GpuMat tvec)
static float	rapid(Mat img, int num, int len, Mat pts3d, Mat tris, Mat K, Mat rvec, Mat tvec) High level function to execute a single rapid \cite harris1990rapid iteration 1.
static float	rapid(UMat img, int num, int len, UMat pts3d, UMat tris, UMat K, UMat rvec, UMat tvec)

Methods inherited from class org.bytedeco.opencv.presets.opencv_rapid

map

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

opencv_rapid

public opencv_rapid()

Method Detail

drawCorrespondencies

@Namespace(value="cv::rapid")
public static void drawCorrespondencies(@ByVal
                                                                      Mat bundle,
                                                                      @ByVal
                                                                      Mat srcLocations,
                                                                      @ByVal
                                                                      Mat newLocations,
                                                                      @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                      Mat colors)

\addtogroup rapid \{

/** Debug draw markers of matched correspondences onto a lineBundle

Parameters:

bundle - the lineBundle

srcLocations - the according source locations

newLocations - matched source locations

colors - colors for the markers. Defaults to white.

drawCorrespondencies

@Namespace(value="cv::rapid")
public static void drawCorrespondencies(@ByVal
                                                                      Mat bundle,
                                                                      @ByVal
                                                                      Mat srcLocations,
                                                                      @ByVal
                                                                      Mat newLocations)

drawCorrespondencies

@Namespace(value="cv::rapid")
public static void drawCorrespondencies(@ByVal
                                                                      UMat bundle,
                                                                      @ByVal
                                                                      UMat srcLocations,
                                                                      @ByVal
                                                                      UMat newLocations,
                                                                      @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                      UMat colors)

drawCorrespondencies

@Namespace(value="cv::rapid")
public static void drawCorrespondencies(@ByVal
                                                                      UMat bundle,
                                                                      @ByVal
                                                                      UMat srcLocations,
                                                                      @ByVal
                                                                      UMat newLocations)

drawCorrespondencies

@Namespace(value="cv::rapid")
public static void drawCorrespondencies(@ByVal
                                                                      GpuMat bundle,
                                                                      @ByVal
                                                                      GpuMat srcLocations,
                                                                      @ByVal
                                                                      GpuMat newLocations,
                                                                      @ByVal(nullValue="cv::InputArray(cv::noArray())")
                                                                      GpuMat colors)

drawCorrespondencies

@Namespace(value="cv::rapid")
public static void drawCorrespondencies(@ByVal
                                                                      GpuMat bundle,
                                                                      @ByVal
                                                                      GpuMat srcLocations,
                                                                      @ByVal
                                                                      GpuMat newLocations)

drawSearchLines

@Namespace(value="cv::rapid")
public static void drawSearchLines(@ByVal
                                                                 Mat img,
                                                                 @ByVal
                                                                 Mat locations,
                                                                 @Const @ByRef
                                                                 Scalar color)

Debug draw search lines onto an image

Parameters:

img - the output image

locations - the source locations of a line bundle

color - the line color

drawSearchLines

@Namespace(value="cv::rapid")
public static void drawSearchLines(@ByVal
                                                                 UMat img,
                                                                 @ByVal
                                                                 UMat locations,
                                                                 @Const @ByRef
                                                                 Scalar color)

drawSearchLines

@Namespace(value="cv::rapid")
public static void drawSearchLines(@ByVal
                                                                 GpuMat img,
                                                                 @ByVal
                                                                 GpuMat locations,
                                                                 @Const @ByRef
                                                                 Scalar color)

drawWireframe

@Namespace(value="cv::rapid")
public static void drawWireframe(@ByVal
                                                               Mat img,
                                                               @ByVal
                                                               Mat pts2d,
                                                               @ByVal
                                                               Mat tris,
                                                               @Const @ByRef
                                                               Scalar color,
                                                               int type,
                                                               @Cast(value="bool")
                                                               boolean cullBackface)

Draw a wireframe of a triangle mesh

Parameters:

img - the output image

pts2d - the 2d points obtained by \ref projectPoints

tris - triangle face connectivity

color - line color

type - line type. See \ref LineTypes.

cullBackface - enable back-face culling based on CCW order

drawWireframe

@Namespace(value="cv::rapid")
public static void drawWireframe(@ByVal
                                                               Mat img,
                                                               @ByVal
                                                               Mat pts2d,
                                                               @ByVal
                                                               Mat tris,
                                                               @Const @ByRef
                                                               Scalar color)

drawWireframe

@Namespace(value="cv::rapid")
public static void drawWireframe(@ByVal
                                                               UMat img,
                                                               @ByVal
                                                               UMat pts2d,
                                                               @ByVal
                                                               UMat tris,
                                                               @Const @ByRef
                                                               Scalar color,
                                                               int type,
                                                               @Cast(value="bool")
                                                               boolean cullBackface)

drawWireframe

@Namespace(value="cv::rapid")
public static void drawWireframe(@ByVal
                                                               UMat img,
                                                               @ByVal
                                                               UMat pts2d,
                                                               @ByVal
                                                               UMat tris,
                                                               @Const @ByRef
                                                               Scalar color)

drawWireframe

@Namespace(value="cv::rapid")
public static void drawWireframe(@ByVal
                                                               GpuMat img,
                                                               @ByVal
                                                               GpuMat pts2d,
                                                               @ByVal
                                                               GpuMat tris,
                                                               @Const @ByRef
                                                               Scalar color,
                                                               int type,
                                                               @Cast(value="bool")
                                                               boolean cullBackface)

drawWireframe

@Namespace(value="cv::rapid")
public static void drawWireframe(@ByVal
                                                               GpuMat img,
                                                               @ByVal
                                                               GpuMat pts2d,
                                                               @ByVal
                                                               GpuMat tris,
                                                               @Const @ByRef
                                                               Scalar color)

extractControlPoints

@Namespace(value="cv::rapid")
public static void extractControlPoints(int num,
                                                                      int len,
                                                                      @ByVal
                                                                      Mat pts3d,
                                                                      @ByVal
                                                                      Mat rvec,
                                                                      @ByVal
                                                                      Mat tvec,
                                                                      @ByVal
                                                                      Mat K,
                                                                      @Const @ByRef
                                                                      Size imsize,
                                                                      @ByVal
                                                                      Mat tris,
                                                                      @ByVal
                                                                      Mat ctl2d,
                                                                      @ByVal
                                                                      Mat ctl3d)

Extract control points from the projected silhouette of a mesh see \cite drummond2002real Sec 2.1, Step b

Parameters:

num - number of control points

len - search radius (used to restrict the ROI)

pts3d - the 3D points of the mesh

rvec - rotation between mesh and camera

tvec - translation between mesh and camera

K - camera intrinsic

imsize - size of the video frame

tris - triangle face connectivity

ctl2d - the 2D locations of the control points

ctl3d - matching 3D points of the mesh

extractControlPoints

@Namespace(value="cv::rapid")
public static void extractControlPoints(int num,
                                                                      int len,
                                                                      @ByVal
                                                                      UMat pts3d,
                                                                      @ByVal
                                                                      UMat rvec,
                                                                      @ByVal
                                                                      UMat tvec,
                                                                      @ByVal
                                                                      UMat K,
                                                                      @Const @ByRef
                                                                      Size imsize,
                                                                      @ByVal
                                                                      UMat tris,
                                                                      @ByVal
                                                                      UMat ctl2d,
                                                                      @ByVal
                                                                      UMat ctl3d)

extractControlPoints

@Namespace(value="cv::rapid")
public static void extractControlPoints(int num,
                                                                      int len,
                                                                      @ByVal
                                                                      GpuMat pts3d,
                                                                      @ByVal
                                                                      GpuMat rvec,
                                                                      @ByVal
                                                                      GpuMat tvec,
                                                                      @ByVal
                                                                      GpuMat K,
                                                                      @Const @ByRef
                                                                      Size imsize,
                                                                      @ByVal
                                                                      GpuMat tris,
                                                                      @ByVal
                                                                      GpuMat ctl2d,
                                                                      @ByVal
                                                                      GpuMat ctl3d)

extractLineBundle

@Namespace(value="cv::rapid")
public static void extractLineBundle(int len,
                                                                   @ByVal
                                                                   Mat ctl2d,
                                                                   @ByVal
                                                                   Mat img,
                                                                   @ByVal
                                                                   Mat bundle,
                                                                   @ByVal
                                                                   Mat srcLocations)

Extract the line bundle from an image

Parameters:

len - the search radius. The bundle will have 2*len + 1 columns.

ctl2d - the search lines will be centered at this points and orthogonal to the contour defined by them. The bundle will have as many rows.

img - the image to read the pixel intensities values from

bundle - line bundle image with size ctl2d.rows() x (2 * len + 1) and the same type as \p img

srcLocations - the source pixel locations of \p bundle in \p img as CV_16SC2

extractLineBundle

@Namespace(value="cv::rapid")
public static void extractLineBundle(int len,
                                                                   @ByVal
                                                                   UMat ctl2d,
                                                                   @ByVal
                                                                   UMat img,
                                                                   @ByVal
                                                                   UMat bundle,
                                                                   @ByVal
                                                                   UMat srcLocations)

extractLineBundle

@Namespace(value="cv::rapid")
public static void extractLineBundle(int len,
                                                                   @ByVal
                                                                   GpuMat ctl2d,
                                                                   @ByVal
                                                                   GpuMat img,
                                                                   @ByVal
                                                                   GpuMat bundle,
                                                                   @ByVal
                                                                   GpuMat srcLocations)

findCorrespondencies

@Namespace(value="cv::rapid")
public static void findCorrespondencies(@ByVal
                                                                      Mat bundle,
                                                                      @ByVal
                                                                      Mat srcLocations,
                                                                      @ByVal
                                                                      Mat newLocations,
                                                                      @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                      Mat response)

Find corresponding image locations by searching for a maximal sobel edge along the search line (a single row in the bundle)

Parameters:

bundle - the line bundle

srcLocations - the according source image location

newLocations - image locations with maximal edge along the search line

response - the sobel response for the selected point

findCorrespondencies

@Namespace(value="cv::rapid")
public static void findCorrespondencies(@ByVal
                                                                      Mat bundle,
                                                                      @ByVal
                                                                      Mat srcLocations,
                                                                      @ByVal
                                                                      Mat newLocations)

findCorrespondencies

@Namespace(value="cv::rapid")
public static void findCorrespondencies(@ByVal
                                                                      UMat bundle,
                                                                      @ByVal
                                                                      UMat srcLocations,
                                                                      @ByVal
                                                                      UMat newLocations,
                                                                      @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                      UMat response)

findCorrespondencies

@Namespace(value="cv::rapid")
public static void findCorrespondencies(@ByVal
                                                                      UMat bundle,
                                                                      @ByVal
                                                                      UMat srcLocations,
                                                                      @ByVal
                                                                      UMat newLocations)

findCorrespondencies

@Namespace(value="cv::rapid")
public static void findCorrespondencies(@ByVal
                                                                      GpuMat bundle,
                                                                      @ByVal
                                                                      GpuMat srcLocations,
                                                                      @ByVal
                                                                      GpuMat newLocations,
                                                                      @ByVal(nullValue="cv::OutputArray(cv::noArray())")
                                                                      GpuMat response)

findCorrespondencies

@Namespace(value="cv::rapid")
public static void findCorrespondencies(@ByVal
                                                                      GpuMat bundle,
                                                                      @ByVal
                                                                      GpuMat srcLocations,
                                                                      @ByVal
                                                                      GpuMat newLocations)

filterCorrespondencies

@Namespace(value="cv::rapid")
public static void filterCorrespondencies(@ByVal
                                                                        Mat pts2d,
                                                                        @ByVal
                                                                        Mat pts3d,
                                                                        @ByVal
                                                                        Mat mask)

Filter corresponding 2d and 3d points based on mask

Parameters:

pts2d - 2d points

pts3d - 3d points

mask - mask containing non-zero values for the elements to be retained

filterCorrespondencies

@Namespace(value="cv::rapid")
public static void filterCorrespondencies(@ByVal
                                                                        UMat pts2d,
                                                                        @ByVal
                                                                        UMat pts3d,
                                                                        @ByVal
                                                                        UMat mask)

filterCorrespondencies

@Namespace(value="cv::rapid")
public static void filterCorrespondencies(@ByVal
                                                                        GpuMat pts2d,
                                                                        @ByVal
                                                                        GpuMat pts3d,
                                                                        @ByVal
                                                                        GpuMat mask)

rapid

@Namespace(value="cv::rapid")
public static float rapid(@ByVal
                                                        Mat img,
                                                        int num,
                                                        int len,
                                                        @ByVal
                                                        Mat pts3d,
                                                        @ByVal
                                                        Mat tris,
                                                        @ByVal
                                                        Mat K,
                                                        @ByVal
                                                        Mat rvec,
                                                        @ByVal
                                                        Mat tvec)

High level function to execute a single rapid \cite harris1990rapid iteration 1. \ref extractControlPoints 2. \ref extractLineBundle 3. \ref findCorrespondencies 4. \ref filterCorrespondencies 5. \ref solvePnPRefineLM

Parameters:

img - the video frame

num - number of search lines

len - search line radius

pts3d - the 3D points of the mesh

tris - triangle face connectivity

K - camera matrix

rvec - rotation between mesh and camera. Input values are used as an initial solution.

tvec - translation between mesh and camera. Input values are used as an initial solution.

Returns:

ratio of search lines that could be extracted and matched

rapid

@Namespace(value="cv::rapid")
public static float rapid(@ByVal
                                                        UMat img,
                                                        int num,
                                                        int len,
                                                        @ByVal
                                                        UMat pts3d,
                                                        @ByVal
                                                        UMat tris,
                                                        @ByVal
                                                        UMat K,
                                                        @ByVal
                                                        UMat rvec,
                                                        @ByVal
                                                        UMat tvec)

rapid

@Namespace(value="cv::rapid")
public static float rapid(@ByVal
                                                        GpuMat img,
                                                        int num,
                                                        int len,
                                                        @ByVal
                                                        GpuMat pts3d,
                                                        @ByVal
                                                        GpuMat tris,
                                                        @ByVal
                                                        GpuMat K,
                                                        @ByVal
                                                        GpuMat rvec,
                                                        @ByVal
                                                        GpuMat tvec)