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[Krobot-commits] [SCM] krobot branch, master, updated. 35f2720c1b040772eeefd7d06efd6ad4f3be3220
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From: Pierre C. <Ba...@us...> - 2012-05-12 17:08:00
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- Log -----------------------------------------------------------------
commit 35f2720c1b040772eeefd7d06efd6ad4f3be3220
Author: chicco <cha...@cr...>
Date: Sat May 12 19:07:04 2012 +0200
[camlcv] more tests, catch errors, fix calibration
commit b519178ead26f7d6f931e609886b493adf805696
Author: chicco <cha...@cr...>
Date: Thu May 10 17:35:35 2012 +0200
[camlcv] easier to use, have tests
-----------------------------------------------------------------------
Changes:
diff --git a/info/vision/camlcv/_oasis b/info/vision/camlcv/_oasis
index e586f57..b4c3985 100644
--- a/info/vision/camlcv/_oasis
+++ b/info/vision/camlcv/_oasis
@@ -29,5 +29,55 @@ Library "cv"
CvHighGui
CSources:
cv_caml.c
+ CCopt: -x c++ -O2
+ CClib: -lstdc++
XMETADescription: Core Opencv
BuildDepends: bigarray
+
+Executable "leak"
+ Path: test/
+ MainIs: leak.ml
+ Install: false
+ BuildDepends: cv
+
+Executable "test_drawing"
+ Path: test/
+ MainIs: test_drawing.ml
+ Install: false
+ BuildDepends: cv
+
+Executable "test_good_feature_to_track"
+ Path: test/
+ MainIs: test_good_feature_to_track.ml
+ Install: false
+ BuildDepends: cv
+
+Executable "test_improcess"
+ Path: test/
+ MainIs: test_improcess.ml
+ Install: false
+ BuildDepends: cv
+
+Executable "test_split"
+ Path: test/
+ MainIs: test_split.ml
+ Install: false
+ BuildDepends: cv
+
+Executable "test_threshold"
+ Path: test/
+ MainIs: test_threshold.ml
+ Install: false
+ BuildDepends: cv
+
+Executable "test_find_chessboard_corners"
+ Path: test/
+ MainIs: test_find_chessboard_corners.ml
+ Install: false
+ BuildDepends: cv
+
+Executable "test_calib"
+ Path: test/
+ MainIs: test_calib.ml
+ Install: false
+ BuildDepends: cv
diff --git a/info/vision/camlcv/_tags b/info/vision/camlcv/_tags
index b018bdb..5e875f3 100644
--- a/info/vision/camlcv/_tags
+++ b/info/vision/camlcv/_tags
@@ -1,5 +1,5 @@
# OASIS_START
-# DO NOT EDIT (digest: b8f60d120ef9d7618b2ed02d64b8ef03)
+# DO NOT EDIT (digest: c93fc9a48b0322812d7d9f91a98e5b8f)
# Ignore VCS directories, you can use the same kind of rule outside
# OASIS_START/STOP if you want to exclude directories that contains
# useless stuff for the build process
@@ -15,8 +15,41 @@
"_darcs": not_hygienic
# Library cv
"src/cv.cmxs": use_cv
+<src/*.ml{,i}>: oasis_library_cv_ccopt
+"src/cv_caml.c": oasis_library_cv_ccopt
+<src/cv.{cma,cmxa}>: oasis_library_cv_cclib
+"src/libcv_stubs.lib": oasis_library_cv_cclib
+"src/dllcv_stubs.dll": oasis_library_cv_cclib
+"src/libcv_stubs.a": oasis_library_cv_cclib
+"src/dllcv_stubs.so": oasis_library_cv_cclib
<src/cv.{cma,cmxa}>: use_libcv_stubs
<src/*.ml{,i}>: pkg_bigarray
"src/cv_caml.c": pkg_bigarray
+# Executable test_threshold
+"test/test_threshold.byte": use_cv
+"test/test_threshold.byte": pkg_bigarray
+# Executable leak
+"test/leak.byte": use_cv
+"test/leak.byte": pkg_bigarray
+# Executable test_find_chessboard_corners
+"test/test_find_chessboard_corners.byte": use_cv
+"test/test_find_chessboard_corners.byte": pkg_bigarray
+# Executable test_improcess
+"test/test_improcess.byte": use_cv
+"test/test_improcess.byte": pkg_bigarray
+# Executable test_good_feature_to_track
+"test/test_good_feature_to_track.byte": use_cv
+"test/test_good_feature_to_track.byte": pkg_bigarray
+# Executable test_drawing
+"test/test_drawing.byte": use_cv
+"test/test_drawing.byte": pkg_bigarray
+# Executable test_split
+"test/test_split.byte": use_cv
+"test/test_split.byte": pkg_bigarray
+# Executable test_calib
+"test/test_calib.byte": use_cv
+"test/test_calib.byte": pkg_bigarray
+<test/*.ml{,i}>: use_cv
+<test/*.ml{,i}>: pkg_bigarray
# OASIS_STOP
<src/*>: use_C_opencv
diff --git a/info/vision/camlcv/myocamlbuild.ml b/info/vision/camlcv/myocamlbuild.ml
index ed0acd9..f231df6 100644
--- a/info/vision/camlcv/myocamlbuild.ml
+++ b/info/vision/camlcv/myocamlbuild.ml
@@ -1,5 +1,5 @@
(* OASIS_START *)
-(* DO NOT EDIT (digest: 4691146961f957a78ce95a45557aba80) *)
+(* DO NOT EDIT (digest: 4a00093589bdfb2586c46078313938d7) *)
module OASISGettext = struct
# 21 "/media/data/ocaml/oasis/src/oasis/OASISGettext.ml"
@@ -548,14 +548,33 @@ let package_default =
{
MyOCamlbuildBase.lib_ocaml = [("cv", ["src"])];
lib_c = [("cv", "src/", [])];
- flags = [];
- includes = [];
+ flags =
+ [
+ (["oasis_library_cv_ccopt"; "compile"],
+ [
+ (OASISExpr.EBool true,
+ S
+ [
+ A "-ccopt";
+ A "-x";
+ A "-ccopt";
+ A "c++";
+ A "-ccopt";
+ A "-O2"
+ ])
+ ]);
+ (["oasis_library_cv_cclib"; "link"],
+ [(OASISExpr.EBool true, S [A "-cclib"; A "-lstdc++"])]);
+ (["oasis_library_cv_cclib"; "ocamlmklib"; "c"],
+ [(OASISExpr.EBool true, S [A "-lstdc++"])])
+ ];
+ includes = [("test", ["src"])];
}
;;
let dispatch_default = MyOCamlbuildBase.dispatch_default package_default;;
-# 559 "myocamlbuild.ml"
+# 578 "myocamlbuild.ml"
(* OASIS_STOP *)
open Ocamlbuild_plugin
diff --git a/info/vision/camlcv/src/cvCore.ml b/info/vision/camlcv/src/cvCore.ml
index 155690a..810965f 100644
--- a/info/vision/camlcv/src/cvCore.ml
+++ b/info/vision/camlcv/src/cvCore.ml
@@ -132,10 +132,89 @@ let rgb2gray = CV_RGB2GRAY
let gray2rgb = CV_GRAY2RGB
let rgb2rgba = CV_RGB2RGBA
+(* zeros are: I don't know *)
+let convert_output_channels = function
+ | CV_BGR2BGRA -> 4
+ | CV_RGB2RGBA -> 4
+ | CV_BGRA2BGR -> 3
+ | CV_RGBA2RGB -> 3
+ | CV_BGR2RGBA -> 4
+ | CV_RGB2BGRA -> 4
+ | CV_RGBA2BGR -> 3
+ | CV_BGRA2RGB -> 3
+ | CV_BGR2RGB -> 3
+ | CV_RGB2BGR -> 3
+ | CV_BGRA2RGBA -> 4
+ | CV_RGBA2BGRA -> 4
+ | CV_BGR2GRAY -> 1
+ | CV_RGB2GRAY -> 1
+ | CV_GRAY2BGR -> 3
+ | CV_GRAY2RGB -> 3
+ | CV_GRAY2BGRA -> 4
+ | CV_GRAY2RGBA -> 4
+ | CV_BGRA2GRAY -> 1
+ | CV_RGBA2GRAY -> 1
+ | CV_BGR2BGR565 -> 0
+ | CV_RGB2BGR565 -> 0
+ | CV_BGR5652BGR -> 3
+ | CV_BGR5652RGB -> 3
+ | CV_BGRA2BGR565 -> 0
+ | CV_RGBA2BGR565 -> 0
+ | CV_BGR5652BGRA -> 4
+ | CV_BGR5652RGBA -> 4
+ | CV_GRAY2BGR565 -> 0
+ | CV_BGR5652GRAY -> 1
+ | CV_BGR2BGR555 -> 0
+ | CV_RGB2BGR555 -> 0
+ | CV_BGR5552BGR -> 3
+ | CV_BGR5552RGB -> 3
+ | CV_BGRA2BGR555 -> 0
+ | CV_RGBA2BGR555 -> 0
+ | CV_BGR5552BGRA -> 4
+ | CV_BGR5552RGBA -> 4
+ | CV_GRAY2BGR555 -> 0
+ | CV_BGR5552GRAY -> 1
+ | CV_BGR2XYZ -> 3
+ | CV_RGB2XYZ -> 3
+ | CV_XYZ2BGR -> 3
+ | CV_XYZ2RGB -> 3
+ | CV_BGR2YCrCb -> 0
+ | CV_RGB2YCrCb -> 0
+ | CV_YCrCb2BGR -> 3
+ | CV_YCrCb2RGB -> 3
+ | CV_BGR2HSV -> 3
+ | CV_RGB2HSV -> 3
+ | CV_BGR2Lab -> 3
+ | CV_RGB2Lab -> 3
+ | CV_BayerBG2BGR -> 3
+ | CV_BayerGB2BGR -> 3
+ | CV_BayerRG2BGR -> 3
+ | CV_BayerGR2BGR -> 3
+ | CV_BayerBG2RGB -> 3
+ | CV_BayerGB2RGB -> 3
+ | CV_BayerRG2RGB -> 3
+ | CV_BayerGR2RGB -> 3
+ | CV_BGR2Luv -> 3
+ | CV_RGB2Luv -> 3
+ | CV_BGR2HLS -> 3
+ | CV_RGB2HLS -> 3
+ | CV_HSV2BGR -> 3
+ | CV_HSV2RGB -> 3
+ | CV_Lab2BGR -> 3
+ | CV_Lab2RGB -> 3
+ | CV_Luv2BGR -> 3
+ | CV_Luv2RGB -> 3
+ | CV_HLS2BGR -> 3
+ | CV_HLS2RGB -> 3
+
+
external cvCreateImage : (int*int) -> cvType_ -> int -> ('a,'b) iplImage = "ocaml_cvCreateImage"
external cvCvtColor : ('a,'b) iplImage -> ('d,'e) iplImage -> color_conversion_ -> unit = "ocaml_cvCvtColor"
-external threshold : ('a,'b) iplImage -> ('d,'e) iplImage -> float -> float -> threshold_type -> unit = "ocaml_cvThreshold"
-external adaptive_threshold : ('a,'b) iplImage -> ('d,'e) iplImage -> float -> adaptive_method -> threshold_type -> int -> float -> unit = "ocaml_cvAdaptiveThreshold_bytecode" "ocaml_cvAdaptiveThreshold"
+external threshold' : ([`Channel_1],'b) iplImage -> ([`Channel_1],'b) iplImage -> float -> float -> threshold_type -> unit = "ocaml_cvThreshold"
+external adaptive_threshold' : ('a,'b) iplImage -> ('d,'e) iplImage -> float -> adaptive_method -> threshold_type -> int -> float -> unit = "ocaml_cvAdaptiveThreshold_bytecode" "ocaml_cvAdaptiveThreshold"
+
+external canny' : ([`Channel_1],[`U8]) iplImage -> ([`Channel_1],[`U8]) iplImage ->
+ float -> float -> int -> unit = "ocaml_cvCanny"
external cvSplit : ('a,'b) iplImage -> ([`Channel_1],'b) iplImage option ->
([`Channel_1],'b) iplImage option -> ([`Channel_1],'b) iplImage option ->
@@ -145,13 +224,8 @@ external cvMerge : ([`Channel_1],'b) iplImage option -> ([`Channel_1],'b) iplIma
([`Channel_1],'b) iplImage option -> ([`Channel_1],'b) iplImage option ->
('a,'b) iplImage -> unit = "ocaml_cvMerge"
-let split_3 src c1 c2 c3 =
- cvSplit src (Some c1) (Some c2) (Some c3) None
-
-let merge_3 c1 c2 c3 dst =
- cvMerge (Some c1) (Some c2) (Some c3) None dst
-
external get_cvType : cvType -> cvType_ = "ocaml_get_cvType"
+external cvType_int : int -> cvType_ = "%identity"
external get_color_conversion : color_conversion -> color_conversion_
= "ocaml_get_color_conversion"
external image_size : ('a,'b) iplImage -> (int*int) = "ocaml_image_size"
@@ -159,35 +233,50 @@ external image_channels : ('a,'b) iplImage -> int = "ocaml_image_channels"
external image_depth : ('a,'b) iplImage -> int = "ocaml_image_depth"
external image_data_order : ('a,'b) iplImage -> int = "ocaml_image_data_order"
-(* type float_3point = *)
-(* { mutable f0 : float; *)
-(* mutable f1 : float; *)
-(* mutable f2 : float; } *)
+let create_image_from ?channels ?depth src =
+ let size = image_size src in
+ let type_ = cvType_int (match depth with
+ | None -> image_depth src
+ | Some d -> d) in
+ let channels = match channels with
+ | None -> image_channels src
+ | Some c -> c in
+ cvCreateImage size type_ channels
+
+let split_3' src c1 c2 c3 =
+ cvSplit src (Some c1) (Some c2) (Some c3) None
-(* type int_3point = *)
-(* { mutable i0 : int; *)
-(* mutable i1 : int; *)
-(* mutable i2 : int; } *)
+let split src =
+ let size = image_size src in
+ let type_ = cvType_int (image_depth src) in
+ let c1 = cvCreateImage size type_ 1 in
+ let c2 = cvCreateImage size type_ 1 in
+ let c3 = cvCreateImage size type_ 1 in
+ cvSplit src (Some c1) (Some c2) (Some c3) None;
+ c1,c2,c3
+
+let merge_3' c1 c2 c3 dst =
+ cvMerge (Some c1) (Some c2) (Some c3) None dst
-(* external get_float_3point : *)
-(* ([`One],[`F32],[`BGR | `RGB | `HSV ]) iplImage -> *)
-(* float_point -> unit *)
-(* = "ocaml_get_float_3point" "noalloc" *)
+let merge c1 c2 c3 =
+ let dst = create_image_from ~channels:3 c1 in
+ cvMerge (Some c1) (Some c2) (Some c3) None dst;
+ dst
-(* external set_float_3point : *)
-(* ([`One],[`F32],[`BGR | `RGB | `HSV ]) iplImage -> *)
-(* float_point -> unit *)
-(* = "ocaml_set_float_3point" "noalloc" *)
+let threshold src threshold maxValue thresholdType =
+ let dst = create_image_from src in
+ threshold' src dst threshold maxValue thresholdType;
+ dst
-(* external unsafe_get_int_3point : *)
-(* ([`One],[`U8],[<`BGR | `RGB | `HSV ]) iplImage -> *)
-(* int -> int_3point -> unit *)
-(* = "ocaml_get_int_3point" "noalloc" *)
+let adaptive_threshold src maxValue adaptiveMethod thresholdType blockSize param1 =
+ let dst = create_image_from src in
+ adaptive_threshold' src dst maxValue adaptiveMethod thresholdType blockSize param1;
+ dst
-(* external unsafe_set_int_3point : *)
-(* ([`One],[`U8],[<`BGR | `RGB | `HSV ]) iplImage -> *)
-(* int -> int_3point -> unit *)
-(* = "ocaml_set_int_3point" "noalloc" *)
+let canny src ?(apertureSize=3) th1 th2 =
+ let dst = create_image_from src in
+ canny' src dst th1 th2 apertureSize;
+ dst
type image_data = (int, Bigarray.int8_unsigned_elt, Bigarray.c_layout) Bigarray.Array2.t
@@ -198,9 +287,18 @@ external zero_image : ('a,'b) iplImage -> unit = "ocaml_cvZero"
external clone_image : ('a,'b) iplImage -> ('a,'b) iplImage = "ocaml_cvCloneImage"
let create_image ~x ~y _type i = cvCreateImage (x,y) (get_cvType _type) i
-let convert_color ~src ~dst color_conversion =
+
+let convert_color' ~src ~dst color_conversion =
cvCvtColor src dst (get_color_conversion color_conversion)
+let convert_color src color_conversion =
+ let channels = convert_output_channels color_conversion in
+ let size = image_size src in
+ let type_ = cvType_int (image_depth src) in
+ let dst = cvCreateImage size type_ channels in
+ cvCvtColor src dst (get_color_conversion color_conversion);
+ dst
+
type cvScalar = float * float * float * float
type cvPoint = int * int
type cvPoint2D32f = float * float
@@ -213,6 +311,14 @@ type cvTermCriteria =
termcrit_epsilon : bool;
max_iter : int;
epsilon : float; }
+type vec3f = float * float * float
+
+type vec3f_vect
+
+external create_vec3f_vect : unit -> vec3f_vect = "ocaml_create_Vec3f_vector"
+external vec3f_vect_size : vec3f_vect -> int = "ocaml_vector_size_Vec3f"
+external vec3f_vect_add : vec3f_vect -> vec3f -> unit = "ocaml_vector_add_Vec3f"
+external vec3f_vect_get : vec3f_vect -> int -> vec3f = "ocaml_vector_get_Vec3f"
external cvCircle : ('a,[`U8]) iplImage -> cvPoint -> int -> cvScalar -> int -> unit = "ocaml_cvCircle"
external cvEllipse : ('a,[`U8]) iplImage -> cvPoint -> cvSize ->
@@ -221,6 +327,50 @@ external cvEllipse : ('a,[`U8]) iplImage -> cvPoint -> cvSize ->
external cvRectangle : ('a,[`U8]) iplImage -> cvPoint -> cvPoint -> cvScalar -> int -> unit = "ocaml_cvRectangle"
external cvLine : ('a,[`U8]) iplImage -> cvPoint -> cvPoint -> cvScalar -> int -> unit = "ocaml_cvLine"
+type color = int * int * int
+
+let red = 255, 0, 0
+let green = 0, 255, 0
+let blue = 0, 0, 255
+let yellow = 255, 255, 0
+let magenta = 255, 0, 255
+let black = 0, 0, 0
+let white = 255, 255, 255
+
+let scalar_color (r,g,b) = (float b, float g, float r, 0.)
+
+let circle dst ?(thickness=1) ?(color=blue) center radius =
+ cvCircle dst center radius (scalar_color color) thickness
+
+let ellipse dst ?(thickness=1) ?(color=blue) ?(angle=0.) ?(start_angle=0.) ?(end_angle=360.)
+ center size =
+ cvEllipse dst center size angle start_angle end_angle (scalar_color color) thickness
+
+type ellipse = {
+ ellipse_center : float * float;
+ ellipse_size : float * float;
+ ellipse_angle : float;
+}
+
+let ellipse' dst ?thickness ?color ?start_angle ?end_angle
+ {
+ ellipse_center = x,y;
+ ellipse_size = w,h;
+ ellipse_angle = angle;
+ } =
+ ellipse dst ?thickness ?color ?start_angle ?end_angle
+ (int_of_float x, int_of_float y)
+ (int_of_float w, int_of_float h)
+
+let rectangle dst ?(thickness=1) ?(color=blue) p1 p2 =
+ cvRectangle dst p1 p2 (scalar_color color) thickness
+
+let line dst ?(thickness=1) ?(color=blue) p1 p2 =
+ cvLine dst p1 p2 (scalar_color color) thickness
+
+let draw_points ?(color=red) ?(size=2) i a =
+ Array.iter (fun (x,y) -> circle i ~color (int_of_float x,int_of_float y) size) a
+
(* memory handling *)
type cvMemStorage
@@ -291,12 +441,6 @@ external cvDrawContours : ('a,[`U8]) iplImage -> cvSeq -> cvScalar -> cvScalar -
let draw_contours image seq in_color out_color level thickness offset =
cvDrawContours image seq.seq in_color out_color level thickness offset
-type ellipse = {
- ellipse_center : float * float;
- ellipse_size : float * float;
- ellipse_angle : float;
-}
-
external cvFitEllipse2 : cvSeq -> (float * float * float * float * float) option = "ocaml_cvFitEllipse2"
let fit_ellipse seq =
@@ -307,6 +451,37 @@ let fit_ellipse seq =
ellipse_size = width,height;
ellipse_angle = angle }
+external cvGoodFeaturesToTrack :
+ ([`Channel_1],'b) iplImage ->
+ (float, Bigarray.float32_elt, Bigarray.c_layout) Bigarray.Array2.t ->
+ float -> float ->
+ ([`Channel_1],[`U8]) iplImage option ->
+ int ->
+ bool ->
+ float ->
+ int
+ = "ocaml_cvGoodFeaturesToTrack_bytecode" "ocaml_cvGoodFeaturesToTrack"
+
+let good_features_to_track image ?mask ?(blockSize=3) ?(useHarris=false) ?(k=0.04)
+ maxCorners qualityLevel minDistance =
+ let ba = Bigarray.Array2.create Bigarray.float32 Bigarray.c_layout maxCorners 2 in
+ let count = cvGoodFeaturesToTrack image ba
+ qualityLevel minDistance
+ mask blockSize useHarris k in
+ Array.init count (fun i -> ba.{i,0}, ba.{i,1})
+
+external houghCircles' :
+ ('a,[`U8]) iplImage ->
+ vec3f_vect ->
+ float -> float -> float -> float ->
+ int -> int -> unit
+ = "ocaml_HoughCircles_bytecode" "ocaml_HoughCircles"
+
+let houghCircles img ?(param1=100.) ?(param2=100.) ?(minRadius=0) ?(maxRadius=0) dp minDist =
+ let vec = create_vec3f_vect () in
+ houghCircles' img vec dp minDist param1 param2 minRadius maxRadius;
+ Array.init (vec3f_vect_size vec) (fun i -> vec3f_vect_get vec i)
+
type calib_cb =
| CV_CALIB_CB_ADAPTIVE_THRESH
| CV_CALIB_CB_NORMALIZE_IMAGE
@@ -362,14 +537,17 @@ let find_corner_subpix ?(criteria=default_criteria) ?(winSize=11,11) ?(zeroZone=
cvFindCornerSubPix i ba count (11,11) (-1,-1) criteria;
end
-
(** camera calibration *)
type ('channel) cvMat_float32 =
(float, Bigarray.float32_elt, Bigarray.c_layout) Bigarray.Array3.t
+type ('channel) cvMat_float64 =
+ (float, Bigarray.float64_elt, Bigarray.c_layout) Bigarray.Array3.t
+
type ('channel) cvMat_int =
- (int, Bigarray.int_elt, Bigarray.c_layout) Bigarray.Array3.t
+ (int32, Bigarray.int32_elt, Bigarray.c_layout) Bigarray.Array3.t
+(* there is no 64 bit type in CvMat... so stick to int32 *)
external cvCalibrateCamera2 : [`Channel_3] cvMat_float32 -> [`Channel_2] cvMat_float32 ->
[`Channel_1] cvMat_int -> cvSize -> [`Channel_1] cvMat_float32 ->
@@ -381,8 +559,8 @@ type calibration = cvSize * float * cvSize option * ((float*float) array array*(
let init_calibration cb_size square_size : calibration = (cb_size, square_size, None, [])
let corner_positions (x,y) square_size =
- Array.init x
- (fun i -> Array.init y
+ Array.init y
+ (fun i -> Array.init x
(fun j -> (float j) *. square_size, (float i) *. square_size, 0.))
let add_calibration_image ((cb_size, square_size, i_size, state):calibration) image : calibration =
@@ -420,8 +598,8 @@ let calibrate (cal:calibration) =
let img_pos = Bigarray.reshape_3
(Bigarray.genarray_of_array3 img_pos)
((List.length state) * points) 1 2 in
- let point_count = Array.create (List.length state) points in
- let point_count = Bigarray.Array1.of_array Bigarray.int Bigarray.c_layout point_count in
+ let point_count = Array.map Int32.of_int (Array.create (List.length state) points) in
+ let point_count = Bigarray.Array1.of_array Bigarray.int32 Bigarray.c_layout point_count in
let point_count = Bigarray.reshape_3
(Bigarray.genarray_of_array1 point_count)
(List.length state) 1 1 in
@@ -442,7 +620,9 @@ external cvInitUndistortMap :
([`Channel_1],[`F32]) iplImage ->
([`Channel_1],[`F32]) iplImage ->
unit
- = "cvInitUndistortMap"
+ = "ocaml_cvInitUndistortMap"
+
+type remap = ([ `Channel_1 ], [ `F32 ]) iplImage * ([ `Channel_1 ], [ `F32 ]) iplImage
let init_undistort_map (x,y) (mat,v) =
let mat = Bigarray.Array3.of_array Bigarray.float32 Bigarray.c_layout
@@ -459,4 +639,22 @@ external cvRemap :
([`Channel_1],[`F32]) iplImage ->
([`Channel_1],[`F32]) iplImage ->
unit
- = "cvRemap"
+ = "ocaml_cvRemap"
+
+let remap' ((mapx,mapy):remap) src dst =
+ cvRemap src dst mapx mapy
+
+let remap ((mapx,mapy):remap) src =
+ let size = image_size src in
+ let type_ = cvType_int (image_depth src) in
+ let channels = image_channels src in
+ let dst = cvCreateImage size type_ channels in
+ cvRemap src dst mapx mapy;
+ dst
+
+external cvFindHomography :
+ [`Channel_2] cvMat_float64 ->
+ [`Channel_2] cvMat_float64 ->
+ [`Channel_1] cvMat_float64 ->
+ unit
+ = "ocaml_cvFindHomography"
diff --git a/info/vision/camlcv/src/cvCore.mli b/info/vision/camlcv/src/cvCore.mli
index 658edc5..3aa6239 100644
--- a/info/vision/camlcv/src/cvCore.mli
+++ b/info/vision/camlcv/src/cvCore.mli
@@ -11,6 +11,7 @@ type cvTermCriteria =
termcrit_epsilon : bool;
max_iter : int;
epsilon : float; }
+type vec3f = float * float * float
type ('chan_num,'depth) iplImage
@@ -54,18 +55,29 @@ val rgb2gray : ([`Channel_3],[`Channel_1]) conversion
val gray2rgb : ([`Channel_1],[`Channel_3]) conversion
val rgb2rgba : ([`Channel_3],[`Channel_4]) conversion
-val convert_color :
+val convert_color' :
src:('c_src,'b) iplImage ->
dst:('c_dst,'b) iplImage ->
('c_src,'c_dst) conversion ->
unit
-val split_3 : ([`Channel_3],'b) iplImage -> ([`Channel_1],'b) iplImage ->
+val convert_color :
+ ('c_src,'b) iplImage ->
+ ('c_src,'c_dst) conversion ->
+ ('c_dst,'b) iplImage
+
+val split_3' : ([`Channel_3],'b) iplImage -> ([`Channel_1],'b) iplImage ->
([`Channel_1],'b) iplImage -> ([`Channel_1],'b) iplImage -> unit
-val merge_3 : ([`Channel_1],'b) iplImage -> ([`Channel_1],'b) iplImage ->
+val split : ([`Channel_3],'b) iplImage ->
+ ([`Channel_1],'b) iplImage * ([`Channel_1],'b) iplImage * ([`Channel_1],'b) iplImage
+
+val merge_3' : ([`Channel_1],'b) iplImage -> ([`Channel_1],'b) iplImage ->
([`Channel_1],'b) iplImage -> ([`Channel_3],'b) iplImage -> unit
+val merge : ([`Channel_1],'b) iplImage -> ([`Channel_1],'b) iplImage ->
+ ([`Channel_1],'b) iplImage -> ([`Channel_3],'b) iplImage
+
(** threshold *)
type threshold_type =
@@ -81,17 +93,79 @@ type adaptive_method =
| CV_ADAPTIVE_THRESH_MEAN_C
| CV_ADAPTIVE_THRESH_GAUSSIAN_C
-val threshold : ('a,'b) iplImage -> ('d,'e) iplImage -> float -> float -> threshold_type -> unit
-(** [threshold src dst threshold maxValue thresholdType] *)
-val adaptive_threshold : ('a,'b) iplImage -> ('d,'e) iplImage -> float -> adaptive_method -> threshold_type -> int -> float -> unit
-(** [adaptive_threshold src dst maxValue adaptiveMethod thresholdType blockSize param1] *)
+val threshold' : ([`Channel_1],'b) iplImage -> ([`Channel_1],'b) iplImage ->
+ float -> float -> threshold_type -> unit
+(** [threshold' src dst threshold maxValue thresholdType] *)
+
+val threshold : ([`Channel_1],'b) iplImage -> float -> float -> threshold_type ->
+ ([`Channel_1],'b) iplImage
+(** [threshold src threshold maxValue thresholdType] *)
+
+val adaptive_threshold' : ([`Channel_1],'b) iplImage -> ([`Channel_1],'b) iplImage ->
+ float -> adaptive_method -> threshold_type -> int -> float -> unit
+(** [adaptive_threshold' src dst maxValue adaptiveMethod thresholdType blockSize param1] *)
+
+val adaptive_threshold : ([`Channel_1],'b) iplImage ->
+ float -> adaptive_method -> threshold_type -> int -> float -> ([`Channel_1],'b) iplImage
+(** [adaptive_threshold src maxValue adaptiveMethod thresholdType blockSize param1] *)
+
+(** edge detection *)
+
+val canny' : ([`Channel_1],[`U8]) iplImage -> ([`Channel_1],[`U8]) iplImage ->
+ float -> float -> int -> unit
+val canny : ([ `Channel_1 ], [ `U8 ]) iplImage ->
+ ?apertureSize:int ->
+ float -> float -> ([ `Channel_1 ], [ `U8 ]) iplImage
+(** [canny src threshold1 threshold2] *)
(** drawing *)
-val cvCircle : ('a,[`U8]) iplImage -> cvPoint -> int -> cvScalar -> int -> unit
-val cvEllipse : ('a,[`U8]) iplImage -> cvPoint -> cvSize -> float -> float -> float -> cvScalar -> int -> unit
-val cvRectangle : ('a,[`U8]) iplImage -> cvPoint -> cvPoint -> cvScalar -> int -> unit
-val cvLine : ('a,[`U8]) iplImage -> cvPoint -> cvPoint -> cvScalar -> int -> unit
+type color = int * int * int (** red, green, blue *)
+
+val red : color
+val green : color
+val blue : color
+val yellow : color
+val magenta : color
+val black : color
+val white : color
+
+val circle : ('a, [ `U8 ]) iplImage ->
+ ?thickness:int -> ?color:color ->
+ cvPoint -> int -> unit
+
+type ellipse = {
+ ellipse_center : float * float;
+ ellipse_size : float * float;
+ ellipse_angle : float;
+}
+
+val ellipse : ('a, [ `U8 ]) iplImage ->
+ ?thickness:int ->
+ ?color:color ->
+ ?angle:float ->
+ ?start_angle:float -> ?end_angle:float -> cvPoint -> cvSize -> unit
+
+val ellipse' : ('a, [ `U8 ]) iplImage ->
+ ?thickness:int ->
+ ?color:color ->
+ ?start_angle:float -> ?end_angle:float ->
+ ellipse -> unit
+
+val rectangle : ('a, [ `U8 ]) iplImage ->
+ ?thickness:int -> ?color:color ->
+ cvPoint -> cvPoint -> unit
+
+val line : ('a, [ `U8 ]) iplImage ->
+ ?thickness:int -> ?color:color ->
+ cvPoint -> cvPoint -> unit
+
+val draw_points :
+ ?color:color ->
+ ?size:int ->
+ ('a, [ `U8 ]) iplImage ->
+ cvPoint2D32f array -> unit
+
(**/**)
val image_data_order : ('a,'b) iplImage -> int
@@ -129,14 +203,24 @@ val find_contours : ?mode:contour_retrieval_mode -> ?meth:contour_approximation_
val draw_contours : ('a,[`U8]) iplImage -> seq -> cvScalar -> cvScalar -> int -> int -> cvPoint -> unit
-type ellipse = {
- ellipse_center : float * float;
- ellipse_size : float * float;
- ellipse_angle : float;
-}
-
val fit_ellipse : seq -> ellipse option
+val good_features_to_track :
+ ([ `Channel_1 ], 'a) iplImage ->
+ ?mask:([ `Channel_1 ], [ `U8 ]) iplImage ->
+ ?blockSize:int ->
+ ?useHarris:bool ->
+ ?k:float -> int -> float -> float -> cvPoint2D32f array
+(** [good_features_to_track image ?mask ?(blockSize=3) ?(useHarris=false) ?(k=0.04)
+ maxCorners qualityLevel minDistance] *)
+
+ val houghCircles :
+ ('a, [ `U8 ]) iplImage ->
+ ?param1:float ->
+ ?param2:float ->
+ ?minRadius:int -> ?maxRadius:int -> float -> float -> vec3f array
+(** [houghCircles img dp minDist] *)
+
type calib_cb =
| CV_CALIB_CB_ADAPTIVE_THRESH
| CV_CALIB_CB_NORMALIZE_IMAGE
@@ -165,12 +249,21 @@ val add_calibration_image :
calibration -> ([ `Channel_1 ], [ `U8 ]) iplImage -> calibration
val calibrate : calibration -> float * ( float array array * float array )
-val init_undistort_map : cvSize -> ( float array array * float array ) ->
- ([ `Channel_1 ], [ `F32 ]) iplImage * ([ `Channel_1 ], [ `F32 ]) iplImage
+type remap
+
+val init_undistort_map : cvSize -> ( float array array * float array ) -> remap
+val remap' : remap -> ('a, 'b) iplImage -> ('a, 'b) iplImage -> unit
+val remap : remap -> ('a, 'b) iplImage -> ('a, 'b) iplImage
+
+type ('channel) cvMat_float32 =
+ (float, Bigarray.float32_elt, Bigarray.c_layout) Bigarray.Array3.t
+
+type ('channel) cvMat_float64 =
+ (float, Bigarray.float64_elt, Bigarray.c_layout) Bigarray.Array3.t
-external cvRemap :
- ('a,'b) iplImage -> ('a,'b) iplImage ->
- ([`Channel_1],[`F32]) iplImage ->
- ([`Channel_1],[`F32]) iplImage ->
+external cvFindHomography :
+ [`Channel_2] cvMat_float64 ->
+ [`Channel_2] cvMat_float64 ->
+ [`Channel_1] cvMat_float64 ->
unit
- = "cvRemap"
+ = "ocaml_cvFindHomography"
diff --git a/info/vision/camlcv/src/cvHighGui.ml b/info/vision/camlcv/src/cvHighGui.ml
index bc5ada3..e10f58f 100644
--- a/info/vision/camlcv/src/cvHighGui.ml
+++ b/info/vision/camlcv/src/cvHighGui.ml
@@ -40,14 +40,109 @@ let named_window ?(option=CV_WINDOW_DEFAULT) name =
| CV_WINDOW_AUTOSIZE -> 1 in
cvNamedWindow name opt
-external wait_key : int -> char = "ocaml_cvWaitKey"
+external destroy_window : string -> unit = "ocaml_cvDestroyWindow"
+external destroy_all_windows : unit -> unit = "ocaml_cvDestroyAllWindows"
+
+external wait_key' : int -> int = "ocaml_cvWaitKey"
+
+let wait_key i =
+ let c = wait_key' i in
+ if c > 0
+ then Some (Char.chr (c land 255))
+ else None
+
external show_image : string -> ('a,'b) iplImage -> unit = "ocaml_cvShowImage"
type int_var
external create_int_var : int -> int_var = "ocaml_create_int_var"
-external get_int_var : int_var -> int = "ocaml_get_int_var"
-external set_int_var : int_var -> int -> unit = "ocaml_set_int_var"
+external get_var : int_var -> int = "ocaml_get_int_var"
+external set_var : int_var -> int -> unit = "ocaml_set_int_var"
external cvCreateTrackbar : string -> string -> int_var -> int -> int = "ocaml_cvCreateTrackbar"
-let create_trackbar ~name ~window var max = ignore (cvCreateTrackbar name window var max)
+let create_trackbar ?default ~name ~window max =
+ let default = match default with
+ | None -> max / 2
+ | Some d -> d in
+ let var = create_int_var default in
+ ignore (cvCreateTrackbar name window var max);
+ var
+
+type cap_prop =
+ | CV_CAP_PROP_DC1394_OFF
+ | CV_CAP_PROP_DC1394_MODE_MANUAL
+ | CV_CAP_PROP_DC1394_MODE_AUTO
+ | CV_CAP_PROP_DC1394_MODE_ONE_PUSH_AUTO
+ | CV_CAP_PROP_POS_MSEC
+ | CV_CAP_PROP_POS_FRAMES
+ | CV_CAP_PROP_POS_AVI_RATIO
+ | CV_CAP_PROP_FRAME_WIDTH
+ | CV_CAP_PROP_FRAME_HEIGHT
+ | CV_CAP_PROP_FPS
+ | CV_CAP_PROP_FOURCC
+ | CV_CAP_PROP_FRAME_COUNT
+ | CV_CAP_PROP_FORMAT
+ | CV_CAP_PROP_MODE
+ | CV_CAP_PROP_BRIGHTNESS
+ | CV_CAP_PROP_CONTRAST
+ | CV_CAP_PROP_SATURATION
+ | CV_CAP_PROP_HUE
+ | CV_CAP_PROP_GAIN
+ | CV_CAP_PROP_EXPOSURE
+ | CV_CAP_PROP_CONVERT_RGB
+ | CV_CAP_PROP_WHITE_BALANCE_BLUE_U
+ | CV_CAP_PROP_RECTIFICATION
+ | CV_CAP_PROP_MONOCROME
+ | CV_CAP_PROP_SHARPNESS
+ | CV_CAP_PROP_AUTO_EXPOSURE
+ | CV_CAP_PROP_GAMMA
+ | CV_CAP_PROP_TEMPERATURE
+ | CV_CAP_PROP_TRIGGER
+ | CV_CAP_PROP_TRIGGER_DELAY
+ | CV_CAP_PROP_WHITE_BALANCE_RED_V
+ | CV_CAP_PROP_MAX_DC1394
+ | CV_CAP_PROP_AUTOGRAB
+ | CV_CAP_PROP_SUPPORTED_PREVIEW_SIZES_STRING
+ | CV_CAP_PROP_PREVIEW_FORMAT
+ | CV_CAP_OPENNI_DEPTH_GENERATOR
+ | CV_CAP_OPENNI_IMAGE_GENERATOR
+ | CV_CAP_OPENNI_GENERATORS_MASK
+ | CV_CAP_PROP_OPENNI_OUTPUT_MODE
+ | CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH
+ | CV_CAP_PROP_OPENNI_BASELINE
+ | CV_CAP_PROP_OPENNI_FOCAL_LENGTH
+ | CV_CAP_PROP_OPENNI_REGISTRATION_ON
+ | CV_CAP_PROP_OPENNI_REGISTRATION
+ | CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE
+ | CV_CAP_OPENNI_DEPTH_GENERATOR_BASELINE
+ | CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH
+ | CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON
+ | CV_CAP_GSTREAMER_QUEUE_LENGTH
+ | CV_CAP_PROP_PVAPI_MULTICASTIP
+ | CV_CAP_PROP_XI_DOWNSAMPLING
+ | CV_CAP_PROP_XI_DATA_FORMAT
+ | CV_CAP_PROP_XI_OFFSET_X
+ | CV_CAP_PROP_XI_OFFSET_Y
+ | CV_CAP_PROP_XI_TRG_SOURCE
+ | CV_CAP_PROP_XI_TRG_SOFTWARE
+ | CV_CAP_PROP_XI_GPI_SELECTOR
+ | CV_CAP_PROP_XI_GPI_MODE
+ | CV_CAP_PROP_XI_GPI_LEVEL
+ | CV_CAP_PROP_XI_GPO_SELECTOR
+ | CV_CAP_PROP_XI_GPO_MODE
+ | CV_CAP_PROP_XI_LED_SELECTOR
+ | CV_CAP_PROP_XI_LED_MODE
+ | CV_CAP_PROP_XI_MANUAL_WB
+ | CV_CAP_PROP_XI_AUTO_WB
+ | CV_CAP_PROP_XI_AEAG
+ | CV_CAP_PROP_XI_EXP_PRIORITY
+ | CV_CAP_PROP_XI_AE_MAX_LIMIT
+ | CV_CAP_PROP_XI_AG_MAX_LIMIT
+ | CV_CAP_PROP_XI_AEAG_LEVEL
+ | CV_CAP_PROP_XI_TIMEOUT
+
+external set_capture_property : cvCapture -> cap_prop -> float -> unit =
+ "ocaml_cvSetCaptureProperty"
+
+external get_capture_property : cvCapture -> cap_prop -> float =
+ "ocaml_cvGetCaptureProperty"
diff --git a/info/vision/camlcv/src/cvHighGui.mli b/info/vision/camlcv/src/cvHighGui.mli
index 8e93588..6e54b60 100644
--- a/info/vision/camlcv/src/cvHighGui.mli
+++ b/info/vision/camlcv/src/cvHighGui.mli
@@ -16,6 +16,82 @@ type cvCapture
val capture_from_cam : int -> cvCapture
val query_frame : cvCapture -> ([`Channel_3],[`U8]) iplImage
+type cap_prop =
+ | CV_CAP_PROP_DC1394_OFF
+ | CV_CAP_PROP_DC1394_MODE_MANUAL
+ | CV_CAP_PROP_DC1394_MODE_AUTO
+ | CV_CAP_PROP_DC1394_MODE_ONE_PUSH_AUTO
+ | CV_CAP_PROP_POS_MSEC
+ | CV_CAP_PROP_POS_FRAMES
+ | CV_CAP_PROP_POS_AVI_RATIO
+ | CV_CAP_PROP_FRAME_WIDTH
+ | CV_CAP_PROP_FRAME_HEIGHT
+ | CV_CAP_PROP_FPS
+ | CV_CAP_PROP_FOURCC
+ | CV_CAP_PROP_FRAME_COUNT
+ | CV_CAP_PROP_FORMAT
+ | CV_CAP_PROP_MODE
+ | CV_CAP_PROP_BRIGHTNESS
+ | CV_CAP_PROP_CONTRAST
+ | CV_CAP_PROP_SATURATION
+ | CV_CAP_PROP_HUE
+ | CV_CAP_PROP_GAIN
+ | CV_CAP_PROP_EXPOSURE
+ | CV_CAP_PROP_CONVERT_RGB
+ | CV_CAP_PROP_WHITE_BALANCE_BLUE_U
+ | CV_CAP_PROP_RECTIFICATION
+ | CV_CAP_PROP_MONOCROME
+ | CV_CAP_PROP_SHARPNESS
+ | CV_CAP_PROP_AUTO_EXPOSURE
+ | CV_CAP_PROP_GAMMA
+ | CV_CAP_PROP_TEMPERATURE
+ | CV_CAP_PROP_TRIGGER
+ | CV_CAP_PROP_TRIGGER_DELAY
+ | CV_CAP_PROP_WHITE_BALANCE_RED_V
+ | CV_CAP_PROP_MAX_DC1394
+ | CV_CAP_PROP_AUTOGRAB
+ | CV_CAP_PROP_SUPPORTED_PREVIEW_SIZES_STRING
+ | CV_CAP_PROP_PREVIEW_FORMAT
+ | CV_CAP_OPENNI_DEPTH_GENERATOR
+ | CV_CAP_OPENNI_IMAGE_GENERATOR
+ | CV_CAP_OPENNI_GENERATORS_MASK
+ | CV_CAP_PROP_OPENNI_OUTPUT_MODE
+ | CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH
+ | CV_CAP_PROP_OPENNI_BASELINE
+ | CV_CAP_PROP_OPENNI_FOCAL_LENGTH
+ | CV_CAP_PROP_OPENNI_REGISTRATION_ON
+ | CV_CAP_PROP_OPENNI_REGISTRATION
+ | CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE
+ | CV_CAP_OPENNI_DEPTH_GENERATOR_BASELINE
+ | CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH
+ | CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON
+ | CV_CAP_GSTREAMER_QUEUE_LENGTH
+ | CV_CAP_PROP_PVAPI_MULTICASTIP
+ | CV_CAP_PROP_XI_DOWNSAMPLING
+ | CV_CAP_PROP_XI_DATA_FORMAT
+ | CV_CAP_PROP_XI_OFFSET_X
+ | CV_CAP_PROP_XI_OFFSET_Y
+ | CV_CAP_PROP_XI_TRG_SOURCE
+ | CV_CAP_PROP_XI_TRG_SOFTWARE
+ | CV_CAP_PROP_XI_GPI_SELECTOR
+ | CV_CAP_PROP_XI_GPI_MODE
+ | CV_CAP_PROP_XI_GPI_LEVEL
+ | CV_CAP_PROP_XI_GPO_SELECTOR
+ | CV_CAP_PROP_XI_GPO_MODE
+ | CV_CAP_PROP_XI_LED_SELECTOR
+ | CV_CAP_PROP_XI_LED_MODE
+ | CV_CAP_PROP_XI_MANUAL_WB
+ | CV_CAP_PROP_XI_AUTO_WB
+ | CV_CAP_PROP_XI_AEAG
+ | CV_CAP_PROP_XI_EXP_PRIORITY
+ | CV_CAP_PROP_XI_AE_MAX_LIMIT
+ | CV_CAP_PROP_XI_AG_MAX_LIMIT
+ | CV_CAP_PROP_XI_AEAG_LEVEL
+ | CV_CAP_PROP_XI_TIMEOUT
+
+val set_capture_property : cvCapture -> cap_prop -> float -> unit
+val get_capture_property : cvCapture -> cap_prop -> float
+
(** Gui interface *)
type window_option =
@@ -25,10 +101,14 @@ type window_option =
val named_window : ?option:window_option -> string -> unit
(** [named_window name] create a window named [name] *)
+val destroy_window : string -> unit
+val destroy_all_windows : unit -> unit
+
val show_image : string -> ('a,'b) iplImage -> unit
(** [show_image window image] display the image [image] in the window
[window] *)
-val wait_key : int -> char
+val wait_key' : int -> int
+val wait_key : int -> char option
(** [wait_key time] wait for [time] milliseconds for an event to
occur. If [time < 0] it waits indefinitely. Nothing happens in
the gui until this function is called. *)
@@ -36,6 +116,6 @@ val wait_key : int -> char
type int_var
val create_int_var : int -> int_var
-val get_int_var : int_var -> int
-val set_int_var : int_var -> int -> unit
-val create_trackbar : name:string -> window:string -> int_var -> int -> unit
+val get_var : int_var -> int
+val set_var : int_var -> int -> unit
+val create_trackbar : ?default:int -> name:string -> window:string -> int -> int_var
diff --git a/info/vision/camlcv/src/cv_caml.c b/info/vision/camlcv/src/cv_caml.c
index 42cb9cd..a49aaf1 100644
--- a/info/vision/camlcv/src/cv_caml.c
+++ b/info/vision/camlcv/src/cv_caml.c
@@ -1,3 +1,4 @@
+extern "C" {
#include <caml/alloc.h>
#include <caml/fail.h>
#include <caml/mlvalues.h>
@@ -6,6 +7,7 @@
#include <caml/custom.h>
#include <caml/bigarray.h>
#include <caml/callback.h>
+}
#include <assert.h>
#include <stdio.h>
@@ -21,6 +23,267 @@
#undef uint64
#undef schar
+using namespace cv;
+
+#define ERRWRAP(expr) \
+try \
+{ \
+ expr; \
+} \
+catch (const cv::Exception &e) \
+{ \
+ caml_failwith(e.what()); \
+}
+
+static Vec3f Vec3f_val(value v) {
+ double v0 = Double_val(Field(v,0));
+ double v1 = Double_val(Field(v,1));
+ double v2 = Double_val(Field(v,2));
+ return (Vec3f(v0,v1,v2));
+}
+
+static value Val_Vec3f(Vec3f v) {
+ CAMLparam0();
+ CAMLlocal1(res);
+ res = caml_alloc_tuple(3);
+ for(int i = 0; i < 3; i++) {
+ Field(res,i) = caml_copy_double(v[i]);
+ }
+ CAMLreturn(res);
+}
+
+/* c++ vector */
+
+template <typename Type>
+vector<Type>* Vector_val(value v)
+{
+ return *(vector<Type>**) Data_custom_val(v);
+}
+
+extern "C" void caml_finalize_vector(value vec)
+{
+ //it is the same finalizer for all types... problems ?
+ vector<void*>* del = Vector_val<void*>(vec);
+ delete del;
+ return;
+}
+
+static struct custom_operations vector_operations = {
+ (char*) "ocaml_vector",
+ caml_finalize_vector,
+ custom_compare_default,
+ custom_hash_default,
+ custom_serialize_default,
+ custom_deserialize_default
+};
+template <typename Type>
+value ocaml_create_vector(value v)
+{
+ CAMLparam1(v);
+ CAMLlocal1(res);
+ res = caml_alloc_custom(&vector_operations, sizeof(vector<Type>*), 1, 10);
+ *(vector<Type>**) Data_custom_val(res) = new vector<Type>();
+ CAMLreturn(res);
+}
+
+template <typename Type>
+value ocaml_vector_size(value v)
+{
+ CAMLparam1(v);
+ vector<Type>* vec = Vector_val<Type>(v);
+ CAMLreturn(Val_int(vec->size()));
+}
+
+template <typename Type>
+value ocaml_vector_add(value v, value vx, Type x)
+{
+ CAMLparam2(v,vx);
+ Vector_val<Type>(v)->push_back(x);
+ CAMLreturn(Val_unit);
+}
+
+template <typename Type>
+Type ocaml_vector_get(value v, value x)
+{
+ vector<Type>* vec = Vector_val<Type>(v);
+ Type ret;
+ try {
+ ret = vec->at(Int_val(x));
+ }
+ catch (const std::exception &e) {
+ caml_failwith(e.what());
+ };
+ return(ret);
+}
+
+extern "C" CAMLprim value ocaml_create_int_vector(value v)
+{
+ return(ocaml_create_vector<int>(v));
+}
+
+extern "C" CAMLprim value ocaml_vector_size_int(value v)
+{
+ return(ocaml_vector_size<int>(v));
+}
+
+extern "C" CAMLprim value ocaml_vector_add_int(value v, value x)
+{
+ return(ocaml_vector_add<int>(v,x,Int_val(x)));
+}
+
+extern "C" CAMLprim value ocaml_vector_get_int(value v, value x)
+{
+ CAMLparam2(v,x);
+ CAMLreturn(Val_int(ocaml_vector_get<int>(v,x)));
+}
+
+extern "C" CAMLprim value ocaml_create_Vec3f_vector(value v)
+{
+ return(ocaml_create_vector<Vec3f>(v));
+}
+
+extern "C" CAMLprim value ocaml_vector_size_Vec3f(value v)
+{
+ return(ocaml_vector_size<Vec3f>(v));
+}
+
+extern "C" CAMLprim value ocaml_vector_add_Vec3f(value v, value x)
+{
+ return(ocaml_vector_add<Vec3f>(v,x,Vec3f_val(x)));
+}
+extern "C" CAMLprim value ocaml_vector_get_Vec3f(value v, value x)
+{
+ CAMLparam2(v,x);
+ Vec3f r = ocaml_vector_get<Vec3f>(v,x);
+ CAMLreturn(Val_Vec3f(r));
+}
+
+/* basic caml value conversions */
+
+static CvScalar CvScalar_val(value v) {
+ double v0 = Double_val(Field(v,0));
+ double v1 = Double_val(Field(v,1));
+ double v2 = Double_val(Field(v,2));
+ double v3 = Double_val(Field(v,3));
+ return (cvScalar(v0,v1,v2,v3));
+}
+
+static CvPoint CvPoint_val(value v) {
+ int v0 = Int_val(Field(v,0));
+ int v1 = Int_val(Field(v,1));
+ return (cvPoint(v0,v1));
+}
+
+/* unused
+static CvPoint2D32f CvPoint2D32f_val(value v) {
+ double v0 = Double_val(Field(v,0));
+ double v1 = Double_val(Field(v,1));
+ return (cvPoint2D32f(v0,v1));
+}
+
+static CvPoint3D32f CvPoint3D32f_val(value v) {
+ double v0 = Double_val(Field(v,0));
+ double v1 = Double_val(Field(v,1));
+ double v2 = Double_val(Field(v,2));
+ return (cvPoint3D32f(v0,v1,v2));
+}
+
+static CvPoint2D64f CvPoint2D64f_val(value v) {
+ double v0 = Double_val(Field(v,0));
+ double v1 = Double_val(Field(v,1));
+ return (cvPoint2D64f(v0,v1));
+}
+
+static CvPoint3D64f CvPoint3D64f_val(value v) {
+ double v0 = Double_val(Field(v,0));
+ double v1 = Double_val(Field(v,1));
+ double v2 = Double_val(Field(v,2));
+ return (cvPoint3D64f(v0,v1,v2));
+}
+*/
+
+static CvSize CvSize_val(value v) {
+ int v0 = Int_val(Field(v,0));
+ int v1 = Int_val(Field(v,1));
+ return (cvSize(v0,v1));
+}
+
+static CvTermCriteria CvTermCriteria_val(value v) {
+ int tc_iter = Int_val(Field(v,0));
+ int tc_eps = Int_val(Field(v,1));
+ int type = 0;
+ if (tc_iter) type |= CV_TERMCRIT_ITER;
+ if (tc_eps) type |= CV_TERMCRIT_EPS;
+ int max_iter = Int_val(Field(v,2));
+ double epsilon = Double_val(Field(v,3));
+ return (cvTermCriteria(type,max_iter,epsilon));
+}
+
+static CvMat CvMat_val(value v) {
+ void* data = Data_bigarray_val(v);
+ int rows = Bigarray_val(v)->dim[0];
+ int cols = Bigarray_val(v)->dim[1];
+ int channels = Bigarray_val(v)->dim[2];
+ int kind = Bigarray_val(v)->flags & BIGARRAY_KIND_MASK;
+ int type = 0;
+ switch (kind) {
+
+ case BIGARRAY_FLOAT32:
+ switch (channels) {
+ case 1:
+ type = CV_32FC1;
+ break;
+ case 2:
+ type = CV_32FC2;
+ break;
+ case 3:
+ type = CV_32FC3;
+ break;
+ default:
+ break;
+ }
+ break;
+
+ case BIGARRAY_FLOAT64:
+ switch (channels) {
+ case 1:
+ type = CV_64FC1;
+ break;
+ case 2:
+ type = CV_64FC2;
+ break;
+ case 3:
+ type = CV_64FC3;
+ break;
+ default:
+ break;
+ }
+ break;
+
+ case BIGARRAY_INT32:
+ switch (channels) {
+ case 1:
+ type = CV_32SC1;
+ break;
+ case 2:
+ type = CV_32SC2;
+ break;
+ case 3:
+ type = CV_32SC3;
+ break;
+ default:
+ break;
+ }
+ break;
+
+ default:
+ break;
+ }
+ if(type == 0) caml_failwith("CvMat_val case not handled");
+
+ return (cvMat(rows, cols, type, data));
+}
+
int cvType_table[] = {
IPL_DEPTH_1U,
IPL_DEPTH_8U,
@@ -31,7 +294,7 @@ int cvType_table[] = {
IPL_DEPTH_32S
};
-int ocaml_get_cvType(int vtype)
+extern "C" CAMLprim value ocaml_get_cvType(value vtype)
{
return (Val_int(cvType_table[Int_val(vtype)]));
}
@@ -44,7 +307,7 @@ int iscolor_table[] = {
CV_LOAD_IMAGE_ANYCOLOR
};
-int ocaml_get_iscolor(int iscolor)
+extern "C" CAMLprim value ocaml_get_iscolor(value iscolor)
{
return (Val_int(iscolor_table[Int_val(iscolor)]));
}
@@ -61,7 +324,7 @@ void caml_finalize_CvMemStorage(value vstor)
}
static struct custom_operations CvMemStorage_operations = {
- "ocaml_opencv_CvMemStorage",
+ (char*) "ocaml_opencv_CvMemStorage",
caml_finalize_CvMemStorage,
custom_compare_default,
custom_hash_default,
@@ -69,7 +332,7 @@ static struct custom_operations CvMemStorage_operations = {
custom_deserialize_default
};
-CAMLexport value ocaml_create_CvMemStorage(value vunit)
+extern "C" CAMLprim value ocaml_create_CvMemStorage(value vunit)
{
CAMLparam1(vunit);
CAMLlocal1 (res);
@@ -79,7 +342,7 @@ CAMLexport value ocaml_create_CvMemStorage(value vunit)
CAMLreturn (res);
}
-CAMLexport value ocaml_free_CvMemStorage(value vstor)
+extern "C" CAMLprim value ocaml_free_CvMemStorage(value vstor)
{
CAMLparam1(vstor);
caml_finalize_CvMemStorage(vstor);
@@ -101,7 +364,7 @@ void caml_finalize_IplImage(value vimage)
}
static struct custom_operations IplImage_operations = {
- "ocaml_opencv_IplImage",
+ (char*) "ocaml_opencv_IplImage",
caml_finalize_IplImage,
custom_compare_default,
custom_hash_default,
@@ -119,18 +382,25 @@ CAMLexport value caml_alloc_IplImage(IplImage *image)
CAMLreturn (res);
}
-CAMLprim value ocaml_cvCreateImage(value vsize, value vtype, value vi)
+extern "C" CAMLprim value ocaml_cvCreateImage(value vsize, value vtype, value vi)
{
CAMLparam3 (vsize, vtype, vi);
CAMLlocal1 (res);
- IplImage* image = cvCreateImage(cvSize(Int_val(Field (vsize, 0)),
- Int_val(Field (vsize, 1))),
- Int_val(vtype), Int_val(vi));
+ IplImage* image = cvCreateImage(CvSize_val(vsize), Int_val(vtype), Int_val(vi));
+ res = caml_alloc_IplImage(image);
+ CAMLreturn (res);
+}
+
+extern "C" CAMLprim value ocaml_cvCreateImage_depth(value vsize, value vdepth, value vi)
+{
+ CAMLparam3 (vsize, vdepth, vi);
+ CAMLlocal1 (res);
+ IplImage* image = cvCreateImage(CvSize_val(vsize), Int_val(vdepth), Int_val(vi));
res = caml_alloc_IplImage(image);
CAMLreturn (res);
}
-CAMLprim value ocaml_cvLoadImage(value vfile, value viscolor)
+extern "C" CAMLprim value ocaml_cvLoadImage(value vfile, value viscolor)
{
CAMLparam2 (vfile, viscolor);
CAMLlocal1 (res);
@@ -140,7 +410,7 @@ CAMLprim value ocaml_cvLoadImage(value vfile, value viscolor)
CAMLreturn (res);
}
-CAMLprim value ocaml_cvCloneImage(value vimage)
+extern "C" CAMLprim value ocaml_cvCloneImage(value vimage)
{
CAMLparam1 (vimage);
CAMLlocal1 (res);
@@ -150,21 +420,21 @@ CAMLprim value ocaml_cvCloneImage(value vimage)
CAMLreturn (res);
}
-CAMLprim value ocaml_cvZero(value vimage)
+extern "C" CAMLprim value ocaml_cvZero(value vimage)
{
CAMLparam1 (vimage);
cvZero( Image_val(vimage)->image );
CAMLreturn (Val_unit);
}
-CAMLprim value ocaml_cvShowImage(value vwindow, value vimage)
+extern "C" CAMLprim value ocaml_cvShowImage(value vwindow, value vimage)
{
CAMLparam2 (vwindow, vimage);
cvShowImage( String_val(vwindow), Image_val(vimage)->image);
CAMLreturn (Val_unit);
}
-CAMLprim value ocaml_image_size(value vimage)
+extern "C" CAMLprim value ocaml_image_size(value vimage)
{
CAMLparam1 (vimage);
CAMLlocal1 (res);
@@ -175,14 +445,28 @@ CAMLprim value ocaml_image_size(value vimage)
CAMLreturn (res);
}
-CAMLprim value ocaml_cvNamedWindow(value vwindow, value vi)
+extern "C" CAMLprim value ocaml_cvNamedWindow(value vwindow, value vi)
{
CAMLparam2 (vwindow, vi);
- cvNamedWindow(String_val(vwindow), Int_val(vi));
+ ERRWRAP(cvNamedWindow(String_val(vwindow), Int_val(vi)));
+ CAMLreturn (Val_unit);
+}
+
+extern "C" CAMLprim value ocaml_cvDestroyWindow(value vwindow)
+{
+ CAMLparam1 (vwindow);
+ ERRWRAP(cvDestroyWindow(String_val(vwindow)));
+ CAMLreturn (Val_unit);
+}
+
+extern "C" CAMLprim value ocaml_cvDestroyAllWindows(value vunit)
+{
+ CAMLparam1 (vunit);
+ ERRWRAP(cvDestroyAllWindows());
CAMLreturn (Val_unit);
}
-CAMLprim value ocaml_cvWaitKey(value vi)
+extern "C" CAMLprim value ocaml_cvWaitKey(value vi)
{
return (Val_int(cvWaitKey(Int_val(vi))));
}
@@ -196,7 +480,7 @@ CAMLexport void caml_finalize_CvCapture(value vcapture)
}
static struct custom_operations CvCapture_operations = {
- "ocaml_opencv_CvCapture",
+ (char*) "ocaml_opencv_CvCapture",
caml_finalize_CvCapture,
custom_compare_default,
custom_hash_default,
@@ -212,7 +496,7 @@ CAMLexport value caml_alloc_CvCapture(CvCapture *capture)
return res;
}
-CAMLprim value ocaml_cvCaptureFromCAM(value vsource)
+extern "C" CAMLprim value ocaml_cvCaptureFromCAM(value vsource)
{
CAMLparam1 (vsource);
CAMLlocal1 (res);
@@ -222,7 +506,7 @@ CAMLprim value ocaml_cvCaptureFromCAM(value vsource)
CAMLreturn (res);
}
-CAMLprim value ocaml_cvQueryFrame(value vcapture)
+extern "C" CAMLprim value ocaml_cvQueryFrame(value vcapture)
{
CAMLparam1 (vcapture);
CAMLlocal1 (res);
@@ -233,6 +517,99 @@ CAMLprim value ocaml_cvQueryFrame(value vcapture)
CAMLreturn (res);
}
+int cv_cap_table[] = {
+ CV_CAP_PROP_DC1394_OFF,
+ CV_CAP_PROP_DC1394_MODE_MANUAL,
+ CV_CAP_PROP_DC1394_MODE_AUTO,
+ CV_CAP_PROP_DC1394_MODE_ONE_PUSH_AUTO,
+ CV_CAP_PROP_POS_MSEC,
+ CV_CAP_PROP_POS_FRAMES,
+ CV_CAP_PROP_POS_AVI_RATIO,
+ CV_CAP_PROP_FRAME_WIDTH,
+ CV_CAP_PROP_FRAME_HEIGHT,
+ CV_CAP_PROP_FPS,
+ CV_CAP_PROP_FOURCC,
+ CV_CAP_PROP_FRAME_COUNT,
+ CV_CAP_PROP_FORMAT,
+ CV_CAP_PROP_MODE,
+ CV_CAP_PROP_BRIGHTNESS,
+ CV_CAP_PROP_CONTRAST,
+ CV_CAP_PROP_SATURATION,
+ CV_CAP_PROP_HUE,
+ CV_CAP_PROP_GAIN,
+ CV_CAP_PROP_EXPOSURE,
+ CV_CAP_PROP_CONVERT_RGB,
+ CV_CAP_PROP_WHITE_BALANCE_BLUE_U,
+ CV_CAP_PROP_RECTIFICATION,
+ CV_CAP_PROP_MONOCROME,
+ CV_CAP_PROP_SHARPNESS,
+ CV_CAP_PROP_AUTO_EXPOSURE,
+ CV_CAP_PROP_GAMMA,
+ CV_CAP_PROP_TEMPERATURE,
+ CV_CAP_PROP_TRIGGER,
+ CV_CAP_PROP_TRIGGER_DELAY,
+ CV_CAP_PROP_WHITE_BALANCE_RED_V,
+ CV_CAP_PROP_MAX_DC1394,
+ CV_CAP_PROP_AUTOGRAB,
+ CV_CAP_PROP_SUPPORTED_PREVIEW_SIZES_STRING,
+ CV_CAP_PROP_PREVIEW_FORMAT,
+ CV_CAP_OPENNI_DEPTH_GENERATOR,
+ CV_CAP_OPENNI_IMAGE_GENERATOR,
+ CV_CAP_OPENNI_GENERATORS_MASK,
+ CV_CAP_PROP_OPENNI_OUTPUT_MODE,
+ CV_CAP_PROP_OPENNI_FRAME_MAX_DEPTH,
+ CV_CAP_PROP_OPENNI_BASELINE,
+ CV_CAP_PROP_OPENNI_FOCAL_LENGTH,
+ CV_CAP_PROP_OPENNI_REGISTRATION_ON,
+ CV_CAP_PROP_OPENNI_REGISTRATION,
+ CV_CAP_OPENNI_IMAGE_GENERATOR_OUTPUT_MODE,
+ CV_CAP_OPENNI_DEPTH_GENERATOR_BASELINE,
+ CV_CAP_OPENNI_DEPTH_GENERATOR_FOCAL_LENGTH,
+ CV_CAP_OPENNI_DEPTH_GENERATOR_REGISTRATION_ON,
+ CV_CAP_GSTREAMER_QUEUE_LENGTH,
+ CV_CAP_PROP_PVAPI_MULTICASTIP,
+ CV_CAP_PROP_XI_DOWNSAMPLING,
+ CV_CAP_PROP_XI_DATA_FORMAT,
+ CV_CAP_PROP_XI_OFFSET_X,
+ CV_CAP_PROP_XI_OFFSET_Y,
+ CV_CAP_PROP_XI_TRG_SOURCE,
+ CV_CAP_PROP_XI_TRG_SOFTWARE,
+ CV_CAP_PROP_XI_GPI_SELECTOR,
+ CV_CAP_PROP_XI_GPI_MODE,
+ CV_CAP_PROP_XI_GPI_LEVEL,
+ CV_CAP_PROP_XI_GPO_SELECTOR,
+ CV_CAP_PROP_XI_GPO_MODE,
+ CV_CAP_PROP_XI_LED_SELECTOR,
+ CV_CAP_PROP_XI_LED_MODE,
+ CV_CAP_PROP_XI_MANUAL_WB,
+ CV_CAP_PROP_XI_AUTO_WB,
+ CV_CAP_PROP_XI_AEAG,
+ CV_CAP_PROP_XI_EXP_PRIORITY,
+ CV_CAP_PROP_XI_AE_MAX_LIMIT,
+ CV_CAP_PROP_XI_AG_MAX_LIMIT,
+ CV_CAP_PROP_XI_AEAG_LEVEL,
+ CV_CAP_PROP_XI_TIMEOUT
+};
+
+extern "C" CAMLprim value ocaml_cvSetCaptureProperty(value vcapture,value vprop,
+ value vval)
+{
+ CAMLparam3(vcapture, vprop, vval);
+ ERRWRAP(cvSetCaptureProperty(Capture_val(vcapture),
+ cv_cap_table[Int_val(vprop)],
+ Double_val(vval)));
+ CAMLreturn(Val_unit);
+}
+
+extern "C" CAMLprim value ocaml_cvGetCaptureProperty(value vcapture,value vprop)
+{
+ CAMLparam2(vcapture, vprop);
+ double ret;
+ ERRWRAP(ret = cvGetCaptureProperty(Capture_val(vcapture),
+ cv_cap_table[Int_val(vprop)]));
+ CAMLreturn(caml_copy_double(ret));
+}
+
#define Int_var_val(v) (*(int**) (Data_custom_val(v)))
CAMLexport void caml_finalize_Int_var(value vvar)
@@ -242,7 +619,7 @@ CAMLexport void caml_finalize_Int_var(value vvar)
}
static struct custom_operations int_var_operations = {
- "ocaml_opencv_int_var",
+ (char*) "ocaml_opencv_int_var",
caml_finalize_Int_var,
custom_compare_default,
custom_hash_default,
@@ -264,12 +641,12 @@ CAMLexport value caml_alloc_int_var(int def)
{
value res;
res = caml_alloc_custom(&int_var_operations, sizeof(int*), 1, 1000);
- Int_var_val(res) = cv_malloc(sizeof(int));
+ Int_var_val(res) = (int*) cv_malloc(sizeof(int));
*(Int_var_val(res)) = def;
return res;
}
-CAMLprim value ocaml_create_int_var(value vdef)
+extern "C" CAMLprim value ocaml_create_int_var(value vdef)
{
CAMLparam1 (vdef);
CAMLlocal1 (res);
@@ -277,14 +654,14 @@ CAMLprim value ocaml_create_int_var(value vdef)
CAMLreturn (res);
}
-CAMLprim value ocaml_get_int_var(value vvar)
+extern "C" CAMLprim value ocaml_get_int_var(value vvar)
{
CAMLparam1 (vvar);
int* var = Int_var_val(vvar);
CAMLreturn (Val_int(*var));
}
-CAMLprim value ocaml_set_int_var(value vvar, value vval)
+extern "C" CAMLprim value ocaml_set_int_var(value vvar, value vval)
{
CAMLparam2 (vvar, vval);
int* var = Int_var_val(vvar);
@@ -292,7 +669,7 @@ CAMLprim value ocaml_set_int_var(value vvar, value vval)
CAMLreturn (Val_unit);
}
-CAMLprim value ocaml_cvCreateTrackbar(value vname, value vwindow, value vvar, value vmax)
+extern "C" CAMLprim value ocaml_cvCreateTrackbar(value vname, value vwindow, value vvar, value vmax)
{
CAMLparam4 (vname, vwindow, vvar, vmax);
int res = cvCreateTrackbar(String_val(vname), String_val(vwindow),
@@ -375,12 +752,12 @@ int conversion_table[] = {
CV_HLS2RGB
};
-int ocaml_get_color_conversion(int vtype)
+extern "C" CAMLprim value ocaml_get_color_conversion(value vtype)
{
return (Val_int(conversion_table[Int_val(vtype)]));
}
-CAMLprim value ocaml_cvCvtColor(value vsrc, value vdst, value vtype)
+extern "C" CAMLprim value ocaml_cvCvtColor(value vsrc, value vdst, value vtype)
{
CAMLparam3(vsrc, vdst, vtype);
cvCvtColor(Image_val(vsrc)->image,
@@ -389,7 +766,7 @@ CAMLprim value ocaml_cvCvtColor(value vsrc, value vdst, value vtype)
CAMLreturn(Val_unit);
}
-CAMLprim value ocaml_cvSplit(value vsrc, value vdst0,
+extern "C" CAMLprim value ocaml_cvSplit(value vsrc, value vdst0,
value vdst1, value vdst2, value vdst3)
{
CAMLparam5(vsrc, vdst0, vdst1, vdst2, vdst3);
@@ -408,7 +785,7 @@ CAMLprim value ocaml_cvSplit(value vsrc, value vdst0,
CAMLreturn(Val_unit);
}
-CAMLprim value ocaml_cvMerge(value vsrc0, value vsrc1, value vsrc2,
+extern "C" CAMLprim value ocaml_cvMerge(value vsrc0, value vsrc1, value vsrc2,
value vsrc3, value vdst)
{
CAMLparam5(vsrc0, vsrc1, vsrc2, vsrc3, vdst);
@@ -442,7 +819,7 @@ int adaptiveMethod_table[] = {
CV_ADAPTIVE_THRESH_GAUSSIAN_C,
};
-CAMLprim value ocaml_cvThreshold(value vsrc, value vdst, value vthreshold,
+extern "C" CAMLprim value ocaml_cvThreshold(value vsrc, value vdst, value vthreshold,
value vmaxValue, value vthresholdType)
{
CAMLparam5(vsrc, vdst, vthreshold, vmaxValue, vthresholdType);
@@ -454,7 +831,7 @@ CAMLprim value ocaml_cvThreshold(value vsrc, value vdst, value vthreshold,
CAMLreturn(Val_unit);
}
-CAMLprim value ocaml_cvAdaptiveThreshold(value vsrc, value vdst, value vmaxValue,
+extern "C" CAMLprim value ocaml_cvAdaptiveThreshold(value vsrc, value vdst, value vmaxValue,
value vadaptiveMethod, value vthresholdType,
value vblockSize, value vparam1)
{
@@ -470,52 +847,88 @@ CAMLprim value ocaml_cvAdaptiveThreshold(value vsrc, value vdst, value vmaxValue
CAMLreturn(Val_unit);
}
-CAMLprim value ocaml_cvAdaptiveThreshold_bytecode( value * argv, int argn )
+extern "C" CAMLprim value ocaml_cvAdaptiveThreshold_bytecode( value * argv, int argn )
{
return ocaml_cvAdaptiveThreshold( argv[0], argv[1], argv[2], argv[3], argv[4], argv[5], argv[6] );
}
-/* CAMLprim value ocaml_get_float_3point(value vimage, value vindex, value vres) */
-/* { */
-/* IplImage* image = Image_val(vsrc)->image; */
-/* int index = Int_val(vindex); */
-/* Store_double_field(vres,0,image->imageData[3*i]); */
-/* Store_double_field(vres,1,image->imageData[3*i+1]); */
-/* Store_double_field(vres,2,image->imageData[3*i+2]); */
-/* CAMLreturn(Val_unit); */
-/* } */
-
-/* CAMLprim value ocaml_set_float_3point(value vimage, value vindex, value vval) */
-/* { */
-/* IplImage* image = Image_val(vsrc)->image; */
-/* int index = Int_val(vindex); */
-/* camlimage->imageData[3*i] = Double_field(vval,0); */
-/* camlimage->imageData[3*i+1] = Double_field(vval,1); */
-/* camlimage->imageData[3*i+2] = Double_field(vval,2); */
-/* CAMLreturn(Val_unit); */
-/* } */
-
-/* CAMLprim value ocaml_get_int_3point(value vimage, value vindex, value vres) */
-/* { */
-/* IplImage* image = Image_val(vimage)->image; */
-/* int i = Int_val(vindex); */
-/* Field(vres,0) = image->imageData[3*i]; */
-/* Field(vres,1) = image->imageData[3*i+1]; */
-/* Field(vres,2) = image->imageData[3*i+2]; */
-/* return Val_unit; */
-/* } */
-
-/* CAMLprim value ocaml_set_int_3point(value vimage, value vindex, value vres) */
-/* { */
-/* IplImage* image = Image_val(vimage)->image; */
-/* int i = Int_val(vindex); */
-/* image->imageData[3*i] = Field(vres,0); */
-/* image->imageData[3*i+1] = Field(vres,1); */
-/* image->imageData[3*i+2] = Field(vres,2); */
-/* return Val_unit; */
-/* } */
-
-CAMLprim value ocaml_image_to_bigarray(value vimage)
+extern "C" CAMLprim value ocaml_cvCanny(value vimage, value vedges,
+ value vthreshold1, value vthreshold2,
+ value vapertureSize)
+{
+ CAMLparam5(vimage, vedges, vthreshold1, vthreshold2, vapertureSize);
+
+ cvCanny(Image_val(vimage)->image,
+ Image_val(vedges)->image,
+ Double_val(vthreshold1),
+ Double_val(vthreshold2),
+ Int_val(vapertureSize));
+
+ CAMLreturn(Val_unit);
+}
+
+/*
+extern "C" CAMLprim value ocaml_medianBlur(value vsrc, value vdst, value ksize)
+{
+ CAMLparam3(vsrc, vdst, ksize);
+
+ Mat dst = Mat(Image_val(vdst)->image);
+
+ ERRWRAP(
+ medianBlur(Mat(Image_val(vsrc)->image),
+ &dst,
+ Int_val(ksize)));
+
+ CAMLreturn(Val_unit);
+}
+*/
+
+extern "C" CAMLprim value ocaml_cvGoodFeaturesToTrack(
+ value image,
+ value vcorners,
+ value qualityLevel,
+ value minDistance,
+ value vmask,
+ value blockSize,
+ value useHarris,
+ value k)
+{
+ CAMLparam5(image,
+ vcorners,
+ qualityLevel,
+ minDistance,
+ vmask);
+ CAMLxparam3(blockSize,
+ useHarris,
+ k);
+
+ CvArr* mask = Is_long(vmask) ? NULL : Image_val(Field(vmask,0))->image;
+ CvPoint2D32f* corners = (CvPoint2D32f*) Data_bigarray_val(vcorners);
+ int cornerCount = Bigarray_val(vcorners)->dim[0];;
+
+ ERRWRAP(
+ cvGoodFeaturesToTrack(Image_val(image)->image,
+ NULL,
+ NULL,
+ corners,
+ &cornerCount,
+ Double_val(qualityLevel),
+ Double_val(minDistance),
+ mask,
+ Int_val(blockSize),
+ Bool_val(useHarris),
+ Double_val(k)));
+
+ CAMLreturn(Val_int(cornerCount));
+}
+
+extern "C" CAMLprim value ocaml_cvGoodFeaturesToTrack_bytecode( value * argv, int argn )
+{
+ return ocaml_cvGoodFeaturesToTrack( argv[0], argv[1], argv[2], argv[3],
+ argv[4], argv[5], argv[6], argv[7] );
+}
+
+extern "C" CAMLprim value ocaml_image_to_bigarray(value vimage)
{
CAMLparam1(vimage);
CAMLlocal1(ba);
@@ -528,150 +941,26 @@ CAMLprim value ocaml_image_to_bigarray(value vimage)
CAMLreturn(ba);
}
-CAMLprim value ocaml_image_channels(value vimage)
+extern "C" CAMLprim value ocaml_image_channels(value vimage)
{
CAMLparam1(vimage);
CAMLreturn(Val_int(Image_val(vimage)->image->nChannels));
}
-CAMLprim value ocaml_image_depth(value vimage)
+extern "C" CAMLprim value ocaml_image_depth(value vimage)
{
CAMLparam1(vimage);
CAMLreturn(Val_int(Image_val(vimage)->image->depth));
}
-CAMLprim value ocaml_image_data_order(value vimage)
+extern "C" CAMLprim value ocaml_image_data_order(value vimage)
{
CAMLparam1(vimage);
CAMLreturn(Val_int(Image_val(vimage)->image->dataOrder));
}
-static CvScalar CvScalar_val(value v) {
- double v0 = Double_val(Field(v,0));
- double v1 = Double_val(Field(v,1));
- double v2 = Double_val(Field(v,2));
- double v3 = Double_val(Field(v,3));
- return (cvScalar(v0,v1,v2,v3));
-}
-
-static CvPoint CvPoint_val(value v) {
- int v0 = Int_val(Field(v,0));
- int v1 = Int_val(Field(v,1));
- return (cvPoint(v0,v1));
-}
-
-/* unused
-static CvPoint2D32f CvPoint2D32f_val(value v) {
- double v0 = Double_val(Field(v,0));
- double v1 = Double_val(Field(v,1));
- return (cvPoint2D32f(v0,v1));
-}
-
-static CvPoint3D32f CvPoint3D32f_val(value v) {
- double v0 = Double_val(Field(v,0));
- double v1 = Double_val(Field(v,1));
- double v2 = Double_val(Field(v,2));
- return (cvPoint3D32f(v0,v1,v2));
-}
-
-static CvPoint2D64f CvPoint2D64f_val(value v) {
- double v0 = Double_val(Field(v,0));
- double v1 = Double_val(Field(v,1));
- return (cvPoint2D64f(v0,v1));
-}
-
-static CvPoint3D64f CvPoint3D64f_val(value v) {
- double v0 = Double_val(Field(v,0));
- double v1 = Double_val(Field(v,1));
- double v2 = Double_val(Field(v,2));
- return (cvPoint3D64f(v0,v1,v2));
-}
-*/
-
-static CvSize CvSize_val(value v) {
- int v0 = Int_val(Field(v,0));
- int v1 = Int_val(Field(v,1));
- return (cvSize(v0,v1));
-}
-
-static CvTermCriteria CvTermCriteria_val(value v) {
- int tc_iter = Int_val(Field(v,0));
- int tc_eps = Int_val(Field(v,1));
- int type = 0;
- if (tc_iter) type |= CV_TERMCRIT_ITER;
- if (tc_eps) type |= CV_TERMCRIT_EPS;
- int max_iter = Int_val(Field(v,2));
- double epsilon = Double_val(Field(v,3));
- return (cvTermCriteria(type,max_iter,epsilon));
-}
-
-static CvMat CvMat_val(value v) {
- void* data = Data_bigarray_val(v);
- int rows = Bigarray_val(v)->dim[0];
- int cols = Bigarray_val(v)->dim[1];
- int channels = Bigarray_val(v)->dim[2];
- int kind = Bigarray_val(v)->flags & BIGARRAY_KIND_MASK;
- int type = 0;
- switch (kind) {
-
- case BIGARRAY_FLOAT32:
- switch (channels) {
- case 1:
- type = CV_32FC1;
- break...
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