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cv::Mat -> Mat

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This commit is contained in:
Bence Magyar
2014-09-02 11:34:14 +02:00
parent 9d6fc0488b
commit a392d11d36
2 changed files with 20 additions and 20 deletions
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28
modules/surface_matching/include/opencv2/surface_matching/ppf_helpers.hpp
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@@ -56,16 +56,16 @@ namespace ppf_match_3d
* and whether it should be loaded or not
* \return Returns the matrix on successfull load
*/
CV_EXPORTS cv::Mat loadPLYSimple(const char* fileName, int withNormals);
CV_EXPORTS Mat loadPLYSimple(const char* fileName, int withNormals);
/**
* \brief Write a point cloud to PLY file
* \param [in] fileName The PLY model file to write
*/
CV_EXPORTS void writePLY(cv::Mat PC, const char* fileName);
CV_EXPORTS void writePLY(Mat PC, const char* fileName);
cv::Mat samplePCUniform(cv::Mat PC, int sampleStep);
cv::Mat samplePCUniformInd(cv::Mat PC, int sampleStep, std::vector<int>& indices);
Mat samplePCUniform(Mat PC, int sampleStep);
Mat samplePCUniformInd(Mat PC, int sampleStep, std::vector<int>& indices);
/**
* Sample a point cloud using uniform steps
@@ -79,13 +79,13 @@ cv::Mat samplePCUniformInd(cv::Mat PC, int sampleStep, std::vector<int>& indices
* by the distance to the origin. This parameter enables/disables the use of weighting.
* \return Sampled point cloud
*/
CV_EXPORTS cv::Mat samplePCByQuantization(cv::Mat pc, float xrange[2], float yrange[2], float zrange[2], float sample_step_relative, int weightByCenter=0);
CV_EXPORTS Mat samplePCByQuantization(Mat pc, float xrange[2], float yrange[2], float zrange[2], float sample_step_relative, int weightByCenter=0);
void computeBboxStd(cv::Mat pc, float xRange[2], float yRange[2], float zRange[2]);
void computeBboxStd(Mat pc, float xRange[2], float yRange[2], float zRange[2]);
void* indexPCFlann(cv::Mat pc);
void* indexPCFlann(Mat pc);
void destroyFlann(void* flannIndex);
void queryPCFlann(void* flannIndex, cv::Mat& pc, cv::Mat& indices, cv::Mat& distances);
void queryPCFlann(void* flannIndex, Mat& pc, Mat& indices, Mat& distances);
/**
* Mostly for visualization purposes. Normalizes the point cloud in a Hartley-Zissermann
@@ -96,10 +96,10 @@ void queryPCFlann(void* flannIndex, cv::Mat& pc, cv::Mat& indices, cv::Mat& dist
* @param [in] scale The scale after normalization. Default to 1.
* \return Normalized point cloud
*/
CV_EXPORTS cv::Mat normalize_pc(cv::Mat pc, float scale);
CV_EXPORTS Mat normalize_pc(Mat pc, float scale);
cv::Mat normalizePCCoeff(cv::Mat pc, float scale, float* Cx, float* Cy, float* Cz, float* MinVal, float* MaxVal);
cv::Mat transPCCoeff(cv::Mat pc, float scale, float Cx, float Cy, float Cz, float MinVal, float MaxVal);
Mat normalizePCCoeff(Mat pc, float scale, float* Cx, float* Cy, float* Cz, float* MinVal, float* MaxVal);
Mat transPCCoeff(Mat pc, float scale, float Cx, float Cy, float Cz, float MinVal, float MaxVal);
/**
* Transforms the point cloud with a given a homogeneous 4x4 pose matrix (in double precision)
@@ -109,7 +109,7 @@ cv::Mat transPCCoeff(cv::Mat pc, float scale, float Cx, float Cy, float Cz, floa
* @param [in] Pose 4x4 pose matrix, but linearized in row-major form.
* \return Transformed point cloud
*/
CV_EXPORTS cv::Mat transformPCPose(cv::Mat pc, double Pose[16]);
CV_EXPORTS Mat transformPCPose(Mat pc, double Pose[16]);
/**
* Generate a random 4x4 pose matrix
@@ -123,7 +123,7 @@ CV_EXPORTS void getRandomPose(double Pose[16]);
* @param [in] scale Input scale of the noise. The larger the scale, the more
* noisy the output
*/
CV_EXPORTS cv::Mat addNoisePC(cv::Mat pc, double scale);
CV_EXPORTS Mat addNoisePC(Mat pc, double scale);
/**
* \brief Compute the normals of an arbitrary point cloud
@@ -140,7 +140,7 @@ CV_EXPORTS cv::Mat addNoisePC(cv::Mat pc, double scale);
* If PCNormals is provided to be an Nx6 matrix, then no new allocation
* is made, instead the existing memory is overwritten.
*/
CV_EXPORTS int computeNormalsPC3d(const cv::Mat& PC, cv::Mat& PCNormals, const int NumNeighbors, const bool FlipViewpoint, const double viewpoint[3]);
CV_EXPORTS int computeNormalsPC3d(const Mat& PC, Mat& PCNormals, const int NumNeighbors, const bool FlipViewpoint, const double viewpoint[3]);
} // namespace ppf_match_3d
} // namespace cv

12
modules/surface_matching/src/ppf_helpers.cpp
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@@ -206,7 +206,7 @@ void destroyFlann(void* flannIndex)
}
// For speed purposes this function assumes that PC, Indices and Distances are created with continuous structures
void queryPCFlann(void* flannIndex, cv::Mat& pc, cv::Mat& indices, cv::Mat& distances)
void queryPCFlann(void* flannIndex, Mat& pc, Mat& indices, Mat& distances)
{
Mat obj_32f;
pc.colRange(0,3).copyTo(obj_32f);
@@ -518,11 +518,11 @@ Mat transformPCPose(Mat pc, double Pose[16])
Mat genRandomMat(int rows, int cols, double mean, double stddev, int type)
{
cv::Mat meanMat = mean*cv::Mat::ones(1,1,type);
cv::Mat sigmaMat= stddev*cv::Mat::ones(1,1,type);
cv::RNG rng(time(0));
cv::Mat matr(rows, cols,type);
rng.fill(matr, cv::RNG::NORMAL, meanMat, sigmaMat);
Mat meanMat = mean*Mat::ones(1,1,type);
Mat sigmaMat= stddev*Mat::ones(1,1,type);
RNG rng(time(0));
Mat matr(rows, cols,type);
rng.fill(matr, RNG::NORMAL, meanMat, sigmaMat);
return matr;
}