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CaiXiang 2024-09-25 09:43:03 +08:00
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2774
3rdparty/curl/inc/curl.h vendored Normal file
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586
3rdparty/curl/inc/curlbuild.h vendored Normal file
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#ifndef __CURL_CURLBUILD_H
#define __CURL_CURLBUILD_H
/***************************************************************************
* _ _ ____ _
* Project ___| | | | _ \| |
* / __| | | | |_) | |
* | (__| |_| | _ <| |___
* \___|\___/|_| \_\_____|
*
* Copyright (C) 1998 - 2016, Daniel Stenberg, <daniel@haxx.se>, et al.
*
* This software is licensed as described in the file COPYING, which
* you should have received as part of this distribution. The terms
* are also available at https://curl.haxx.se/docs/copyright.html.
*
* You may opt to use, copy, modify, merge, publish, distribute and/or sell
* copies of the Software, and permit persons to whom the Software is
* furnished to do so, under the terms of the COPYING file.
*
* This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
* KIND, either express or implied.
*
***************************************************************************/
/* ================================================================ */
/* NOTES FOR CONFIGURE CAPABLE SYSTEMS */
/* ================================================================ */
/*
* NOTE 1:
* -------
*
* See file include/curl/curlbuild.h.in, run configure, and forget
* that this file exists it is only used for non-configure systems.
* But you can keep reading if you want ;-)
*
*/
/* ================================================================ */
/* NOTES FOR NON-CONFIGURE SYSTEMS */
/* ================================================================ */
/*
* NOTE 1:
* -------
*
* Nothing in this file is intended to be modified or adjusted by the
* curl library user nor by the curl library builder.
*
* If you think that something actually needs to be changed, adjusted
* or fixed in this file, then, report it on the libcurl development
* mailing list: https://cool.haxx.se/mailman/listinfo/curl-library/
*
* Try to keep one section per platform, compiler and architecture,
* otherwise, if an existing section is reused for a different one and
* later on the original is adjusted, probably the piggybacking one can
* be adversely changed.
*
* In order to differentiate between platforms/compilers/architectures
* use only compiler built in predefined preprocessor symbols.
*
* This header file shall only export symbols which are 'curl' or 'CURL'
* prefixed, otherwise public name space would be polluted.
*
* NOTE 2:
* -------
*
* For any given platform/compiler curl_off_t must be typedef'ed to a
* 64-bit wide signed integral data type. The width of this data type
* must remain constant and independent of any possible large file
* support settings.
*
* As an exception to the above, curl_off_t shall be typedef'ed to a
* 32-bit wide signed integral data type if there is no 64-bit type.
*
* As a general rule, curl_off_t shall not be mapped to off_t. This
* rule shall only be violated if off_t is the only 64-bit data type
* available and the size of off_t is independent of large file support
* settings. Keep your build on the safe side avoiding an off_t gating.
* If you have a 64-bit off_t then take for sure that another 64-bit
* data type exists, dig deeper and you will find it.
*
* NOTE 3:
* -------
*
* Right now you might be staring at file include/curl/curlbuild.h.dist or
* at file include/curl/curlbuild.h, this is due to the following reason:
* file include/curl/curlbuild.h.dist is renamed to include/curl/curlbuild.h
* when the libcurl source code distribution archive file is created.
*
* File include/curl/curlbuild.h.dist is not included in the distribution
* archive. File include/curl/curlbuild.h is not present in the git tree.
*
* The distributed include/curl/curlbuild.h file is only intended to be used
* on systems which can not run the also distributed configure script.
*
* On systems capable of running the configure script, the configure process
* will overwrite the distributed include/curl/curlbuild.h file with one that
* is suitable and specific to the library being configured and built, which
* is generated from the include/curl/curlbuild.h.in template file.
*
* If you check out from git on a non-configure platform, you must run the
* appropriate buildconf* script to set up curlbuild.h and other local files.
*
*/
/* ================================================================ */
/* DEFINITION OF THESE SYMBOLS SHALL NOT TAKE PLACE ANYWHERE ELSE */
/* ================================================================ */
#ifdef CURL_SIZEOF_LONG
# error "CURL_SIZEOF_LONG shall not be defined except in curlbuild.h"
Error Compilation_aborted_CURL_SIZEOF_LONG_already_defined
#endif
#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
# error "CURL_TYPEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_already_defined
#endif
#ifdef CURL_SIZEOF_CURL_SOCKLEN_T
# error "CURL_SIZEOF_CURL_SOCKLEN_T shall not be defined except in curlbuild.h"
Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_already_defined
#endif
#ifdef CURL_TYPEOF_CURL_OFF_T
# error "CURL_TYPEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_already_defined
#endif
#ifdef CURL_FORMAT_CURL_OFF_T
# error "CURL_FORMAT_CURL_OFF_T shall not be defined except in curlbuild.h"
Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_already_defined
#endif
#ifdef CURL_FORMAT_CURL_OFF_TU
# error "CURL_FORMAT_CURL_OFF_TU shall not be defined except in curlbuild.h"
Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_already_defined
#endif
#ifdef CURL_FORMAT_OFF_T
# error "CURL_FORMAT_OFF_T shall not be defined except in curlbuild.h"
Error Compilation_aborted_CURL_FORMAT_OFF_T_already_defined
#endif
#ifdef CURL_SIZEOF_CURL_OFF_T
# error "CURL_SIZEOF_CURL_OFF_T shall not be defined except in curlbuild.h"
Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_already_defined
#endif
#ifdef CURL_SUFFIX_CURL_OFF_T
# error "CURL_SUFFIX_CURL_OFF_T shall not be defined except in curlbuild.h"
Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_already_defined
#endif
#ifdef CURL_SUFFIX_CURL_OFF_TU
# error "CURL_SUFFIX_CURL_OFF_TU shall not be defined except in curlbuild.h"
Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_already_defined
#endif
/* ================================================================ */
/* EXTERNAL INTERFACE SETTINGS FOR NON-CONFIGURE SYSTEMS ONLY */
/* ================================================================ */
#if defined(__DJGPP__) || defined(__GO32__)
# if defined(__DJGPP__) && (__DJGPP__ > 1)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_FORMAT_OFF_T "%lld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# else
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 4
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
#elif defined(__SALFORDC__)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 4
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# define CURL_TYPEOF_CURL_SOCKLEN_T int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
#elif defined(__BORLANDC__)
# if (__BORLANDC__ < 0x520)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 4
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# else
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T __int64
# define CURL_FORMAT_CURL_OFF_T "I64d"
# define CURL_FORMAT_CURL_OFF_TU "I64u"
# define CURL_FORMAT_OFF_T "%I64d"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T i64
# define CURL_SUFFIX_CURL_OFF_TU ui64
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
#elif defined(__TURBOC__)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 4
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# define CURL_TYPEOF_CURL_SOCKLEN_T int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
#elif defined(__WATCOMC__)
# if defined(__386__)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T __int64
# define CURL_FORMAT_CURL_OFF_T "I64d"
# define CURL_FORMAT_CURL_OFF_TU "I64u"
# define CURL_FORMAT_OFF_T "%I64d"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T i64
# define CURL_SUFFIX_CURL_OFF_TU ui64
# else
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 4
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
#elif defined(__POCC__)
# if (__POCC__ < 280)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 4
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# elif defined(_MSC_VER)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T __int64
# define CURL_FORMAT_CURL_OFF_T "I64d"
# define CURL_FORMAT_CURL_OFF_TU "I64u"
# define CURL_FORMAT_OFF_T "%I64d"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T i64
# define CURL_SUFFIX_CURL_OFF_TU ui64
# else
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_FORMAT_OFF_T "%lld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
#elif defined(__LCC__)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 4
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# define CURL_TYPEOF_CURL_SOCKLEN_T int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
#elif defined(__SYMBIAN32__)
# if defined(__EABI__) /* Treat all ARM compilers equally */
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_FORMAT_OFF_T "%lld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# elif defined(__CW32__)
# pragma longlong on
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_FORMAT_OFF_T "%lld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# elif defined(__VC32__)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T __int64
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_FORMAT_OFF_T "%lld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
#elif defined(__MWERKS__)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_FORMAT_OFF_T "%lld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# define CURL_TYPEOF_CURL_SOCKLEN_T int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
#elif defined(_WIN32_WCE)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T __int64
# define CURL_FORMAT_CURL_OFF_T "I64d"
# define CURL_FORMAT_CURL_OFF_TU "I64u"
# define CURL_FORMAT_OFF_T "%I64d"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T i64
# define CURL_SUFFIX_CURL_OFF_TU ui64
# define CURL_TYPEOF_CURL_SOCKLEN_T int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
#elif defined(__MINGW32__)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "I64d"
# define CURL_FORMAT_CURL_OFF_TU "I64u"
# define CURL_FORMAT_OFF_T "%I64d"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# define CURL_TYPEOF_CURL_SOCKLEN_T int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
#elif defined(__VMS)
# if defined(__VAX)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 4
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# else
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_FORMAT_OFF_T "%lld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
#elif defined(__OS400__)
# if defined(__ILEC400__)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_FORMAT_OFF_T "%lld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
# define CURL_PULL_SYS_TYPES_H 1
# define CURL_PULL_SYS_SOCKET_H 1
# endif
#elif defined(__MVS__)
# if defined(__IBMC__) || defined(__IBMCPP__)
# if defined(_ILP32)
# define CURL_SIZEOF_LONG 4
# elif defined(_LP64)
# define CURL_SIZEOF_LONG 8
# endif
# if defined(_LONG_LONG)
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_FORMAT_OFF_T "%lld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# elif defined(_LP64)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# else
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 4
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
# define CURL_PULL_SYS_TYPES_H 1
# define CURL_PULL_SYS_SOCKET_H 1
# endif
#elif defined(__370__)
# if defined(__IBMC__) || defined(__IBMCPP__)
# if defined(_ILP32)
# define CURL_SIZEOF_LONG 4
# elif defined(_LP64)
# define CURL_SIZEOF_LONG 8
# endif
# if defined(_LONG_LONG)
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_FORMAT_OFF_T "%lld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# elif defined(_LP64)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# else
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 4
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
# define CURL_PULL_SYS_TYPES_H 1
# define CURL_PULL_SYS_SOCKET_H 1
# endif
#elif defined(TPF)
# define CURL_SIZEOF_LONG 8
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# define CURL_TYPEOF_CURL_SOCKLEN_T int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
/* ===================================== */
/* KEEP MSVC THE PENULTIMATE ENTRY */
/* ===================================== */
#elif defined(_MSC_VER)
# if (_MSC_VER >= 900) && (_INTEGRAL_MAX_BITS >= 64)
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T __int64
# define CURL_FORMAT_CURL_OFF_T "I64d"
# define CURL_FORMAT_CURL_OFF_TU "I64u"
# define CURL_FORMAT_OFF_T "%I64d"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T i64
# define CURL_SUFFIX_CURL_OFF_TU ui64
# else
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 4
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T int
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
/* ===================================== */
/* KEEP GENERIC GCC THE LAST ENTRY */
/* ===================================== */
#elif defined(__GNUC__)
# if !defined(__LP64__) && (defined(__ILP32__) || \
defined(__i386__) || defined(__ppc__) || defined(__arm__) || \
defined(__sparc__) || defined(__mips__) || defined(__sh__))
# define CURL_SIZEOF_LONG 4
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_FORMAT_OFF_T "%lld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# elif defined(__LP64__) || \
defined(__x86_64__) || defined(__ppc64__) || defined(__sparc64__)
# define CURL_SIZEOF_LONG 8
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_FORMAT_OFF_T "%ld"
# define CURL_SIZEOF_CURL_OFF_T 8
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
# define CURL_SIZEOF_CURL_SOCKLEN_T 4
# define CURL_PULL_SYS_TYPES_H 1
# define CURL_PULL_SYS_SOCKET_H 1
#else
# error "Unknown non-configure build target!"
Error Compilation_aborted_Unknown_non_configure_build_target
#endif
/* CURL_PULL_SYS_TYPES_H is defined above when inclusion of header file */
/* sys/types.h is required here to properly make type definitions below. */
#ifdef CURL_PULL_SYS_TYPES_H
# include <sys/types.h>
#endif
/* CURL_PULL_SYS_SOCKET_H is defined above when inclusion of header file */
/* sys/socket.h is required here to properly make type definitions below. */
#ifdef CURL_PULL_SYS_SOCKET_H
# include <sys/socket.h>
#endif
/* Data type definition of curl_socklen_t. */
#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
#endif
/* Data type definition of curl_off_t. */
#ifdef CURL_TYPEOF_CURL_OFF_T
typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
#endif
#endif /* __CURL_CURLBUILD_H */

262
3rdparty/curl/inc/curlrules.h vendored Normal file
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#ifndef __CURL_CURLRULES_H
#define __CURL_CURLRULES_H
/***************************************************************************
* _ _ ____ _
* Project ___| | | | _ \| |
* / __| | | | |_) | |
* | (__| |_| | _ <| |___
* \___|\___/|_| \_\_____|
*
* Copyright (C) 1998 - 2012, Daniel Stenberg, <daniel@haxx.se>, et al.
*
* This software is licensed as described in the file COPYING, which
* you should have received as part of this distribution. The terms
* are also available at https://curl.haxx.se/docs/copyright.html.
*
* You may opt to use, copy, modify, merge, publish, distribute and/or sell
* copies of the Software, and permit persons to whom the Software is
* furnished to do so, under the terms of the COPYING file.
*
* This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
* KIND, either express or implied.
*
***************************************************************************/
/* ================================================================ */
/* COMPILE TIME SANITY CHECKS */
/* ================================================================ */
/*
* NOTE 1:
* -------
*
* All checks done in this file are intentionally placed in a public
* header file which is pulled by curl/curl.h when an application is
* being built using an already built libcurl library. Additionally
* this file is also included and used when building the library.
*
* If compilation fails on this file it is certainly sure that the
* problem is elsewhere. It could be a problem in the curlbuild.h
* header file, or simply that you are using different compilation
* settings than those used to build the library.
*
* Nothing in this file is intended to be modified or adjusted by the
* curl library user nor by the curl library builder.
*
* Do not deactivate any check, these are done to make sure that the
* library is properly built and used.
*
* You can find further help on the libcurl development mailing list:
* https://cool.haxx.se/mailman/listinfo/curl-library/
*
* NOTE 2
* ------
*
* Some of the following compile time checks are based on the fact
* that the dimension of a constant array can not be a negative one.
* In this way if the compile time verification fails, the compilation
* will fail issuing an error. The error description wording is compiler
* dependent but it will be quite similar to one of the following:
*
* "negative subscript or subscript is too large"
* "array must have at least one element"
* "-1 is an illegal array size"
* "size of array is negative"
*
* If you are building an application which tries to use an already
* built libcurl library and you are getting this kind of errors on
* this file, it is a clear indication that there is a mismatch between
* how the library was built and how you are trying to use it for your
* application. Your already compiled or binary library provider is the
* only one who can give you the details you need to properly use it.
*/
/*
* Verify that some macros are actually defined.
*/
#ifndef CURL_SIZEOF_LONG
# error "CURL_SIZEOF_LONG definition is missing!"
Error Compilation_aborted_CURL_SIZEOF_LONG_is_missing
#endif
#ifndef CURL_TYPEOF_CURL_SOCKLEN_T
# error "CURL_TYPEOF_CURL_SOCKLEN_T definition is missing!"
Error Compilation_aborted_CURL_TYPEOF_CURL_SOCKLEN_T_is_missing
#endif
#ifndef CURL_SIZEOF_CURL_SOCKLEN_T
# error "CURL_SIZEOF_CURL_SOCKLEN_T definition is missing!"
Error Compilation_aborted_CURL_SIZEOF_CURL_SOCKLEN_T_is_missing
#endif
#ifndef CURL_TYPEOF_CURL_OFF_T
# error "CURL_TYPEOF_CURL_OFF_T definition is missing!"
Error Compilation_aborted_CURL_TYPEOF_CURL_OFF_T_is_missing
#endif
#ifndef CURL_FORMAT_CURL_OFF_T
# error "CURL_FORMAT_CURL_OFF_T definition is missing!"
Error Compilation_aborted_CURL_FORMAT_CURL_OFF_T_is_missing
#endif
#ifndef CURL_FORMAT_CURL_OFF_TU
# error "CURL_FORMAT_CURL_OFF_TU definition is missing!"
Error Compilation_aborted_CURL_FORMAT_CURL_OFF_TU_is_missing
#endif
#ifndef CURL_FORMAT_OFF_T
# error "CURL_FORMAT_OFF_T definition is missing!"
Error Compilation_aborted_CURL_FORMAT_OFF_T_is_missing
#endif
#ifndef CURL_SIZEOF_CURL_OFF_T
# error "CURL_SIZEOF_CURL_OFF_T definition is missing!"
Error Compilation_aborted_CURL_SIZEOF_CURL_OFF_T_is_missing
#endif
#ifndef CURL_SUFFIX_CURL_OFF_T
# error "CURL_SUFFIX_CURL_OFF_T definition is missing!"
Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_T_is_missing
#endif
#ifndef CURL_SUFFIX_CURL_OFF_TU
# error "CURL_SUFFIX_CURL_OFF_TU definition is missing!"
Error Compilation_aborted_CURL_SUFFIX_CURL_OFF_TU_is_missing
#endif
/*
* Macros private to this header file.
*/
#define CurlchkszEQ(t, s) sizeof(t) == s ? 1 : -1
#define CurlchkszGE(t1, t2) sizeof(t1) >= sizeof(t2) ? 1 : -1
/*
* Verify that the size previously defined and expected for long
* is the same as the one reported by sizeof() at compile time.
*/
typedef char
__curl_rule_01__
[CurlchkszEQ(long, CURL_SIZEOF_LONG)];
/*
* Verify that the size previously defined and expected for
* curl_off_t is actually the the same as the one reported
* by sizeof() at compile time.
*/
typedef char
__curl_rule_02__
[CurlchkszEQ(curl_off_t, CURL_SIZEOF_CURL_OFF_T)];
/*
* Verify at compile time that the size of curl_off_t as reported
* by sizeof() is greater or equal than the one reported for long
* for the current compilation.
*/
typedef char
__curl_rule_03__
[CurlchkszGE(curl_off_t, long)];
/*
* Verify that the size previously defined and expected for
* curl_socklen_t is actually the the same as the one reported
* by sizeof() at compile time.
*/
typedef char
__curl_rule_04__
[CurlchkszEQ(curl_socklen_t, CURL_SIZEOF_CURL_SOCKLEN_T)];
/*
* Verify at compile time that the size of curl_socklen_t as reported
* by sizeof() is greater or equal than the one reported for int for
* the current compilation.
*/
typedef char
__curl_rule_05__
[CurlchkszGE(curl_socklen_t, int)];
/* ================================================================ */
/* EXTERNALLY AND INTERNALLY VISIBLE DEFINITIONS */
/* ================================================================ */
/*
* CURL_ISOCPP and CURL_OFF_T_C definitions are done here in order to allow
* these to be visible and exported by the external libcurl interface API,
* while also making them visible to the library internals, simply including
* curl_setup.h, without actually needing to include curl.h internally.
* If some day this section would grow big enough, all this should be moved
* to its own header file.
*/
/*
* Figure out if we can use the ## preprocessor operator, which is supported
* by ISO/ANSI C and C++. Some compilers support it without setting __STDC__
* or __cplusplus so we need to carefully check for them too.
*/
#if defined(__STDC__) || defined(_MSC_VER) || defined(__cplusplus) || \
defined(__HP_aCC) || defined(__BORLANDC__) || defined(__LCC__) || \
defined(__POCC__) || defined(__SALFORDC__) || defined(__HIGHC__) || \
defined(__ILEC400__)
/* This compiler is believed to have an ISO compatible preprocessor */
#define CURL_ISOCPP
#else
/* This compiler is believed NOT to have an ISO compatible preprocessor */
#undef CURL_ISOCPP
#endif
/*
* Macros for minimum-width signed and unsigned curl_off_t integer constants.
*/
#if defined(__BORLANDC__) && (__BORLANDC__ == 0x0551)
# define __CURL_OFF_T_C_HLPR2(x) x
# define __CURL_OFF_T_C_HLPR1(x) __CURL_OFF_T_C_HLPR2(x)
# define CURL_OFF_T_C(Val) __CURL_OFF_T_C_HLPR1(Val) ## \
__CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_T)
# define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val) ## \
__CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_TU)
#else
# ifdef CURL_ISOCPP
# define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val ## Suffix
# else
# define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val/**/Suffix
# endif
# define __CURL_OFF_T_C_HLPR1(Val,Suffix) __CURL_OFF_T_C_HLPR2(Val,Suffix)
# define CURL_OFF_T_C(Val) __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_T)
# define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_TU)
#endif
/*
* Get rid of macros private to this header file.
*/
#undef CurlchkszEQ
#undef CurlchkszGE
/*
* Get rid of macros not intended to exist beyond this point.
*/
#undef CURL_PULL_WS2TCPIP_H
#undef CURL_PULL_SYS_TYPES_H
#undef CURL_PULL_SYS_SOCKET_H
#undef CURL_PULL_SYS_POLL_H
#undef CURL_PULL_STDINT_H
#undef CURL_PULL_INTTYPES_H
#undef CURL_TYPEOF_CURL_SOCKLEN_T
#undef CURL_TYPEOF_CURL_OFF_T
#ifdef CURL_NO_OLDIES
#undef CURL_FORMAT_OFF_T /* not required since 7.19.0 - obsoleted in 7.20.0 */
#endif
#endif /* __CURL_CURLRULES_H */

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#ifndef __CURL_CURLVER_H
#define __CURL_CURLVER_H
/***************************************************************************
* _ _ ____ _
* Project ___| | | | _ \| |
* / __| | | | |_) | |
* | (__| |_| | _ <| |___
* \___|\___/|_| \_\_____|
*
* Copyright (C) 1998 - 2018, Daniel Stenberg, <daniel@haxx.se>, et al.
*
* This software is licensed as described in the file COPYING, which
* you should have received as part of this distribution. The terms
* are also available at https://curl.haxx.se/docs/copyright.html.
*
* You may opt to use, copy, modify, merge, publish, distribute and/or sell
* copies of the Software, and permit persons to whom the Software is
* furnished to do so, under the terms of the COPYING file.
*
* This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
* KIND, either express or implied.
*
***************************************************************************/
/* This header file contains nothing but libcurl version info, generated by
a script at release-time. This was made its own header file in 7.11.2 */
/* This is the global package copyright */
#define LIBCURL_COPYRIGHT "1996 - 2018 Daniel Stenberg, <daniel@haxx.se>."
/* This is the version number of the libcurl package from which this header
file origins: */
#define LIBCURL_VERSION "7.59.0"
/* The numeric version number is also available "in parts" by using these
defines: */
#define LIBCURL_VERSION_MAJOR 7
#define LIBCURL_VERSION_MINOR 59
#define LIBCURL_VERSION_PATCH 0
/* This is the numeric version of the libcurl version number, meant for easier
parsing and comparions by programs. The LIBCURL_VERSION_NUM define will
always follow this syntax:
0xXXYYZZ
Where XX, YY and ZZ are the main version, release and patch numbers in
hexadecimal (using 8 bits each). All three numbers are always represented
using two digits. 1.2 would appear as "0x010200" while version 9.11.7
appears as "0x090b07".
This 6-digit (24 bits) hexadecimal number does not show pre-release number,
and it is always a greater number in a more recent release. It makes
comparisons with greater than and less than work.
Note: This define is the full hex number and _does not_ use the
CURL_VERSION_BITS() macro since curl's own configure script greps for it
and needs it to contain the full number.
*/
#define LIBCURL_VERSION_NUM 0x073b00
/*
* This is the date and time when the full source package was created. The
* timestamp is not stored in git, as the timestamp is properly set in the
* tarballs by the maketgz script.
*
* The format of the date follows this template:
*
* "2007-11-23"
*/
#define LIBCURL_TIMESTAMP "2018-03-14"
#define CURL_VERSION_BITS(x,y,z) ((x)<<16|(y)<<8|z)
#define CURL_AT_LEAST_VERSION(x,y,z) \
(LIBCURL_VERSION_NUM >= CURL_VERSION_BITS(x, y, z))
#endif /* __CURL_CURLVER_H */

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#ifndef __CURL_EASY_H
#define __CURL_EASY_H
/***************************************************************************
* _ _ ____ _
* Project ___| | | | _ \| |
* / __| | | | |_) | |
* | (__| |_| | _ <| |___
* \___|\___/|_| \_\_____|
*
* Copyright (C) 1998 - 2016, Daniel Stenberg, <daniel@haxx.se>, et al.
*
* This software is licensed as described in the file COPYING, which
* you should have received as part of this distribution. The terms
* are also available at https://curl.haxx.se/docs/copyright.html.
*
* You may opt to use, copy, modify, merge, publish, distribute and/or sell
* copies of the Software, and permit persons to whom the Software is
* furnished to do so, under the terms of the COPYING file.
*
* This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
* KIND, either express or implied.
*
***************************************************************************/
#ifdef __cplusplus
extern "C" {
#endif
CURL_EXTERN CURL *curl_easy_init(void);
CURL_EXTERN CURLcode curl_easy_setopt(CURL *curl, CURLoption option, ...);
CURL_EXTERN CURLcode curl_easy_perform(CURL *curl);
CURL_EXTERN void curl_easy_cleanup(CURL *curl);
/*
* NAME curl_easy_getinfo()
*
* DESCRIPTION
*
* Request internal information from the curl session with this function. The
* third argument MUST be a pointer to a long, a pointer to a char * or a
* pointer to a double (as the documentation describes elsewhere). The data
* pointed to will be filled in accordingly and can be relied upon only if the
* function returns CURLE_OK. This function is intended to get used *AFTER* a
* performed transfer, all results from this function are undefined until the
* transfer is completed.
*/
CURL_EXTERN CURLcode curl_easy_getinfo(CURL *curl, CURLINFO info, ...);
/*
* NAME curl_easy_duphandle()
*
* DESCRIPTION
*
* Creates a new curl session handle with the same options set for the handle
* passed in. Duplicating a handle could only be a matter of cloning data and
* options, internal state info and things like persistent connections cannot
* be transferred. It is useful in multithreaded applications when you can run
* curl_easy_duphandle() for each new thread to avoid a series of identical
* curl_easy_setopt() invokes in every thread.
*/
CURL_EXTERN CURL *curl_easy_duphandle(CURL *curl);
/*
* NAME curl_easy_reset()
*
* DESCRIPTION
*
* Re-initializes a CURL handle to the default values. This puts back the
* handle to the same state as it was in when it was just created.
*
* It does keep: live connections, the Session ID cache, the DNS cache and the
* cookies.
*/
CURL_EXTERN void curl_easy_reset(CURL *curl);
/*
* NAME curl_easy_recv()
*
* DESCRIPTION
*
* Receives data from the connected socket. Use after successful
* curl_easy_perform() with CURLOPT_CONNECT_ONLY option.
*/
CURL_EXTERN CURLcode curl_easy_recv(CURL *curl, void *buffer, size_t buflen,
size_t *n);
/*
* NAME curl_easy_send()
*
* DESCRIPTION
*
* Sends data over the connected socket. Use after successful
* curl_easy_perform() with CURLOPT_CONNECT_ONLY option.
*/
CURL_EXTERN CURLcode curl_easy_send(CURL *curl, const void *buffer,
size_t buflen, size_t *n);
#ifdef __cplusplus
}
#endif
#endif

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#ifndef __CURL_MPRINTF_H
#define __CURL_MPRINTF_H
/***************************************************************************
* _ _ ____ _
* Project ___| | | | _ \| |
* / __| | | | |_) | |
* | (__| |_| | _ <| |___
* \___|\___/|_| \_\_____|
*
* Copyright (C) 1998 - 2016, Daniel Stenberg, <daniel@haxx.se>, et al.
*
* This software is licensed as described in the file COPYING, which
* you should have received as part of this distribution. The terms
* are also available at https://curl.haxx.se/docs/copyright.html.
*
* You may opt to use, copy, modify, merge, publish, distribute and/or sell
* copies of the Software, and permit persons to whom the Software is
* furnished to do so, under the terms of the COPYING file.
*
* This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
* KIND, either express or implied.
*
***************************************************************************/
#include <stdarg.h>
#include <stdio.h> /* needed for FILE */
#include "curl.h" /* for CURL_EXTERN */
#ifdef __cplusplus
extern "C" {
#endif
CURL_EXTERN int curl_mprintf(const char *format, ...);
CURL_EXTERN int curl_mfprintf(FILE *fd, const char *format, ...);
CURL_EXTERN int curl_msprintf(char *buffer, const char *format, ...);
CURL_EXTERN int curl_msnprintf(char *buffer, size_t maxlength,
const char *format, ...);
CURL_EXTERN int curl_mvprintf(const char *format, va_list args);
CURL_EXTERN int curl_mvfprintf(FILE *fd, const char *format, va_list args);
CURL_EXTERN int curl_mvsprintf(char *buffer, const char *format, va_list args);
CURL_EXTERN int curl_mvsnprintf(char *buffer, size_t maxlength,
const char *format, va_list args);
CURL_EXTERN char *curl_maprintf(const char *format, ...);
CURL_EXTERN char *curl_mvaprintf(const char *format, va_list args);
#ifdef __cplusplus
}
#endif
#endif /* __CURL_MPRINTF_H */

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#ifndef __CURL_MULTI_H
#define __CURL_MULTI_H
/***************************************************************************
* _ _ ____ _
* Project ___| | | | _ \| |
* / __| | | | |_) | |
* | (__| |_| | _ <| |___
* \___|\___/|_| \_\_____|
*
* Copyright (C) 1998 - 2017, Daniel Stenberg, <daniel@haxx.se>, et al.
*
* This software is licensed as described in the file COPYING, which
* you should have received as part of this distribution. The terms
* are also available at https://curl.haxx.se/docs/copyright.html.
*
* You may opt to use, copy, modify, merge, publish, distribute and/or sell
* copies of the Software, and permit persons to whom the Software is
* furnished to do so, under the terms of the COPYING file.
*
* This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
* KIND, either express or implied.
*
***************************************************************************/
/*
This is an "external" header file. Don't give away any internals here!
GOALS
o Enable a "pull" interface. The application that uses libcurl decides where
and when to ask libcurl to get/send data.
o Enable multiple simultaneous transfers in the same thread without making it
complicated for the application.
o Enable the application to select() on its own file descriptors and curl's
file descriptors simultaneous easily.
*/
/*
* This header file should not really need to include "curl.h" since curl.h
* itself includes this file and we expect user applications to do #include
* <curl/curl.h> without the need for especially including multi.h.
*
* For some reason we added this include here at one point, and rather than to
* break existing (wrongly written) libcurl applications, we leave it as-is
* but with this warning attached.
*/
#include "curl.h"
#ifdef __cplusplus
extern "C" {
#endif
#if defined(BUILDING_LIBCURL) || defined(CURL_STRICTER)
typedef struct Curl_multi CURLM;
#else
typedef void CURLM;
#endif
typedef enum {
CURLM_CALL_MULTI_PERFORM = -1, /* please call curl_multi_perform() or
curl_multi_socket*() soon */
CURLM_OK,
CURLM_BAD_HANDLE, /* the passed-in handle is not a valid CURLM handle */
CURLM_BAD_EASY_HANDLE, /* an easy handle was not good/valid */
CURLM_OUT_OF_MEMORY, /* if you ever get this, you're in deep sh*t */
CURLM_INTERNAL_ERROR, /* this is a libcurl bug */
CURLM_BAD_SOCKET, /* the passed in socket argument did not match */
CURLM_UNKNOWN_OPTION, /* curl_multi_setopt() with unsupported option */
CURLM_ADDED_ALREADY, /* an easy handle already added to a multi handle was
attempted to get added - again */
CURLM_RECURSIVE_API_CALL, /* an api function was called from inside a
callback */
CURLM_LAST
} CURLMcode;
/* just to make code nicer when using curl_multi_socket() you can now check
for CURLM_CALL_MULTI_SOCKET too in the same style it works for
curl_multi_perform() and CURLM_CALL_MULTI_PERFORM */
#define CURLM_CALL_MULTI_SOCKET CURLM_CALL_MULTI_PERFORM
/* bitmask bits for CURLMOPT_PIPELINING */
#define CURLPIPE_NOTHING 0L
#define CURLPIPE_HTTP1 1L
#define CURLPIPE_MULTIPLEX 2L
typedef enum {
CURLMSG_NONE, /* first, not used */
CURLMSG_DONE, /* This easy handle has completed. 'result' contains
the CURLcode of the transfer */
CURLMSG_LAST /* last, not used */
} CURLMSG;
struct CURLMsg {
CURLMSG msg; /* what this message means */
CURL *easy_handle; /* the handle it concerns */
union {
void *whatever; /* message-specific data */
CURLcode result; /* return code for transfer */
} data;
};
typedef struct CURLMsg CURLMsg;
/* Based on poll(2) structure and values.
* We don't use pollfd and POLL* constants explicitly
* to cover platforms without poll(). */
#define CURL_WAIT_POLLIN 0x0001
#define CURL_WAIT_POLLPRI 0x0002
#define CURL_WAIT_POLLOUT 0x0004
struct curl_waitfd {
curl_socket_t fd;
short events;
short revents; /* not supported yet */
};
/*
* Name: curl_multi_init()
*
* Desc: inititalize multi-style curl usage
*
* Returns: a new CURLM handle to use in all 'curl_multi' functions.
*/
CURL_EXTERN CURLM *curl_multi_init(void);
/*
* Name: curl_multi_add_handle()
*
* Desc: add a standard curl handle to the multi stack
*
* Returns: CURLMcode type, general multi error code.
*/
CURL_EXTERN CURLMcode curl_multi_add_handle(CURLM *multi_handle,
CURL *curl_handle);
/*
* Name: curl_multi_remove_handle()
*
* Desc: removes a curl handle from the multi stack again
*
* Returns: CURLMcode type, general multi error code.
*/
CURL_EXTERN CURLMcode curl_multi_remove_handle(CURLM *multi_handle,
CURL *curl_handle);
/*
* Name: curl_multi_fdset()
*
* Desc: Ask curl for its fd_set sets. The app can use these to select() or
* poll() on. We want curl_multi_perform() called as soon as one of
* them are ready.
*
* Returns: CURLMcode type, general multi error code.
*/
CURL_EXTERN CURLMcode curl_multi_fdset(CURLM *multi_handle,
fd_set *read_fd_set,
fd_set *write_fd_set,
fd_set *exc_fd_set,
int *max_fd);
/*
* Name: curl_multi_wait()
*
* Desc: Poll on all fds within a CURLM set as well as any
* additional fds passed to the function.
*
* Returns: CURLMcode type, general multi error code.
*/
CURL_EXTERN CURLMcode curl_multi_wait(CURLM *multi_handle,
struct curl_waitfd extra_fds[],
unsigned int extra_nfds,
int timeout_ms,
int *ret);
/*
* Name: curl_multi_perform()
*
* Desc: When the app thinks there's data available for curl it calls this
* function to read/write whatever there is right now. This returns
* as soon as the reads and writes are done. This function does not
* require that there actually is data available for reading or that
* data can be written, it can be called just in case. It returns
* the number of handles that still transfer data in the second
* argument's integer-pointer.
*
* Returns: CURLMcode type, general multi error code. *NOTE* that this only
* returns errors etc regarding the whole multi stack. There might
* still have occurred problems on individual transfers even when
* this returns OK.
*/
CURL_EXTERN CURLMcode curl_multi_perform(CURLM *multi_handle,
int *running_handles);
/*
* Name: curl_multi_cleanup()
*
* Desc: Cleans up and removes a whole multi stack. It does not free or
* touch any individual easy handles in any way. We need to define
* in what state those handles will be if this function is called
* in the middle of a transfer.
*
* Returns: CURLMcode type, general multi error code.
*/
CURL_EXTERN CURLMcode curl_multi_cleanup(CURLM *multi_handle);
/*
* Name: curl_multi_info_read()
*
* Desc: Ask the multi handle if there's any messages/informationals from
* the individual transfers. Messages include informationals such as
* error code from the transfer or just the fact that a transfer is
* completed. More details on these should be written down as well.
*
* Repeated calls to this function will return a new struct each
* time, until a special "end of msgs" struct is returned as a signal
* that there is no more to get at this point.
*
* The data the returned pointer points to will not survive calling
* curl_multi_cleanup().
*
* The 'CURLMsg' struct is meant to be very simple and only contain
* very basic information. If more involved information is wanted,
* we will provide the particular "transfer handle" in that struct
* and that should/could/would be used in subsequent
* curl_easy_getinfo() calls (or similar). The point being that we
* must never expose complex structs to applications, as then we'll
* undoubtably get backwards compatibility problems in the future.
*
* Returns: A pointer to a filled-in struct, or NULL if it failed or ran out
* of structs. It also writes the number of messages left in the
* queue (after this read) in the integer the second argument points
* to.
*/
CURL_EXTERN CURLMsg *curl_multi_info_read(CURLM *multi_handle,
int *msgs_in_queue);
/*
* Name: curl_multi_strerror()
*
* Desc: The curl_multi_strerror function may be used to turn a CURLMcode
* value into the equivalent human readable error string. This is
* useful for printing meaningful error messages.
*
* Returns: A pointer to a zero-terminated error message.
*/
CURL_EXTERN const char *curl_multi_strerror(CURLMcode);
/*
* Name: curl_multi_socket() and
* curl_multi_socket_all()
*
* Desc: An alternative version of curl_multi_perform() that allows the
* application to pass in one of the file descriptors that have been
* detected to have "action" on them and let libcurl perform.
* See man page for details.
*/
#define CURL_POLL_NONE 0
#define CURL_POLL_IN 1
#define CURL_POLL_OUT 2
#define CURL_POLL_INOUT 3
#define CURL_POLL_REMOVE 4
#define CURL_SOCKET_TIMEOUT CURL_SOCKET_BAD
#define CURL_CSELECT_IN 0x01
#define CURL_CSELECT_OUT 0x02
#define CURL_CSELECT_ERR 0x04
typedef int (*curl_socket_callback)(CURL *easy, /* easy handle */
curl_socket_t s, /* socket */
int what, /* see above */
void *userp, /* private callback
pointer */
void *socketp); /* private socket
pointer */
/*
* Name: curl_multi_timer_callback
*
* Desc: Called by libcurl whenever the library detects a change in the
* maximum number of milliseconds the app is allowed to wait before
* curl_multi_socket() or curl_multi_perform() must be called
* (to allow libcurl's timed events to take place).
*
* Returns: The callback should return zero.
*/
typedef int (*curl_multi_timer_callback)(CURLM *multi, /* multi handle */
long timeout_ms, /* see above */
void *userp); /* private callback
pointer */
CURL_EXTERN CURLMcode curl_multi_socket(CURLM *multi_handle, curl_socket_t s,
int *running_handles);
CURL_EXTERN CURLMcode curl_multi_socket_action(CURLM *multi_handle,
curl_socket_t s,
int ev_bitmask,
int *running_handles);
CURL_EXTERN CURLMcode curl_multi_socket_all(CURLM *multi_handle,
int *running_handles);
#ifndef CURL_ALLOW_OLD_MULTI_SOCKET
/* This macro below was added in 7.16.3 to push users who recompile to use
the new curl_multi_socket_action() instead of the old curl_multi_socket()
*/
#define curl_multi_socket(x,y,z) curl_multi_socket_action(x,y,0,z)
#endif
/*
* Name: curl_multi_timeout()
*
* Desc: Returns the maximum number of milliseconds the app is allowed to
* wait before curl_multi_socket() or curl_multi_perform() must be
* called (to allow libcurl's timed events to take place).
*
* Returns: CURLM error code.
*/
CURL_EXTERN CURLMcode curl_multi_timeout(CURLM *multi_handle,
long *milliseconds);
#undef CINIT /* re-using the same name as in curl.h */
#ifdef CURL_ISOCPP
#define CINIT(name,type,num) CURLMOPT_ ## name = CURLOPTTYPE_ ## type + num
#else
/* The macro "##" is ISO C, we assume pre-ISO C doesn't support it. */
#define LONG CURLOPTTYPE_LONG
#define OBJECTPOINT CURLOPTTYPE_OBJECTPOINT
#define FUNCTIONPOINT CURLOPTTYPE_FUNCTIONPOINT
#define OFF_T CURLOPTTYPE_OFF_T
#define CINIT(name,type,number) CURLMOPT_/**/name = type + number
#endif
typedef enum {
/* This is the socket callback function pointer */
CINIT(SOCKETFUNCTION, FUNCTIONPOINT, 1),
/* This is the argument passed to the socket callback */
CINIT(SOCKETDATA, OBJECTPOINT, 2),
/* set to 1 to enable pipelining for this multi handle */
CINIT(PIPELINING, LONG, 3),
/* This is the timer callback function pointer */
CINIT(TIMERFUNCTION, FUNCTIONPOINT, 4),
/* This is the argument passed to the timer callback */
CINIT(TIMERDATA, OBJECTPOINT, 5),
/* maximum number of entries in the connection cache */
CINIT(MAXCONNECTS, LONG, 6),
/* maximum number of (pipelining) connections to one host */
CINIT(MAX_HOST_CONNECTIONS, LONG, 7),
/* maximum number of requests in a pipeline */
CINIT(MAX_PIPELINE_LENGTH, LONG, 8),
/* a connection with a content-length longer than this
will not be considered for pipelining */
CINIT(CONTENT_LENGTH_PENALTY_SIZE, OFF_T, 9),
/* a connection with a chunk length longer than this
will not be considered for pipelining */
CINIT(CHUNK_LENGTH_PENALTY_SIZE, OFF_T, 10),
/* a list of site names(+port) that are blacklisted from
pipelining */
CINIT(PIPELINING_SITE_BL, OBJECTPOINT, 11),
/* a list of server types that are blacklisted from
pipelining */
CINIT(PIPELINING_SERVER_BL, OBJECTPOINT, 12),
/* maximum number of open connections in total */
CINIT(MAX_TOTAL_CONNECTIONS, LONG, 13),
/* This is the server push callback function pointer */
CINIT(PUSHFUNCTION, FUNCTIONPOINT, 14),
/* This is the argument passed to the server push callback */
CINIT(PUSHDATA, OBJECTPOINT, 15),
CURLMOPT_LASTENTRY /* the last unused */
} CURLMoption;
/*
* Name: curl_multi_setopt()
*
* Desc: Sets options for the multi handle.
*
* Returns: CURLM error code.
*/
CURL_EXTERN CURLMcode curl_multi_setopt(CURLM *multi_handle,
CURLMoption option, ...);
/*
* Name: curl_multi_assign()
*
* Desc: This function sets an association in the multi handle between the
* given socket and a private pointer of the application. This is
* (only) useful for curl_multi_socket uses.
*
* Returns: CURLM error code.
*/
CURL_EXTERN CURLMcode curl_multi_assign(CURLM *multi_handle,
curl_socket_t sockfd, void *sockp);
/*
* Name: curl_push_callback
*
* Desc: This callback gets called when a new stream is being pushed by the
* server. It approves or denies the new stream.
*
* Returns: CURL_PUSH_OK or CURL_PUSH_DENY.
*/
#define CURL_PUSH_OK 0
#define CURL_PUSH_DENY 1
struct curl_pushheaders; /* forward declaration only */
CURL_EXTERN char *curl_pushheader_bynum(struct curl_pushheaders *h,
size_t num);
CURL_EXTERN char *curl_pushheader_byname(struct curl_pushheaders *h,
const char *name);
typedef int (*curl_push_callback)(CURL *parent,
CURL *easy,
size_t num_headers,
struct curl_pushheaders *headers,
void *userp);
#ifdef __cplusplus
} /* end of extern "C" */
#endif
#endif

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#ifndef __STDC_HEADERS_H
#define __STDC_HEADERS_H
/***************************************************************************
* _ _ ____ _
* Project ___| | | | _ \| |
* / __| | | | |_) | |
* | (__| |_| | _ <| |___
* \___|\___/|_| \_\_____|
*
* Copyright (C) 1998 - 2016, Daniel Stenberg, <daniel@haxx.se>, et al.
*
* This software is licensed as described in the file COPYING, which
* you should have received as part of this distribution. The terms
* are also available at https://curl.haxx.se/docs/copyright.html.
*
* You may opt to use, copy, modify, merge, publish, distribute and/or sell
* copies of the Software, and permit persons to whom the Software is
* furnished to do so, under the terms of the COPYING file.
*
* This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
* KIND, either express or implied.
*
***************************************************************************/
#include <sys/types.h>
size_t fread(void *, size_t, size_t, FILE *);
size_t fwrite(const void *, size_t, size_t, FILE *);
int strcasecmp(const char *, const char *);
int strncasecmp(const char *, const char *, size_t);
#endif /* __STDC_HEADERS_H */

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#ifndef __CURL_SYSTEM_H
#define __CURL_SYSTEM_H
/***************************************************************************
* _ _ ____ _
* Project ___| | | | _ \| |
* / __| | | | |_) | |
* | (__| |_| | _ <| |___
* \___|\___/|_| \_\_____|
*
* Copyright (C) 1998 - 2017, Daniel Stenberg, <daniel@haxx.se>, et al.
*
* This software is licensed as described in the file COPYING, which
* you should have received as part of this distribution. The terms
* are also available at https://curl.haxx.se/docs/copyright.html.
*
* You may opt to use, copy, modify, merge, publish, distribute and/or sell
* copies of the Software, and permit persons to whom the Software is
* furnished to do so, under the terms of the COPYING file.
*
* This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
* KIND, either express or implied.
*
***************************************************************************/
/*
* Try to keep one section per platform, compiler and architecture, otherwise,
* if an existing section is reused for a different one and later on the
* original is adjusted, probably the piggybacking one can be adversely
* changed.
*
* In order to differentiate between platforms/compilers/architectures use
* only compiler built in predefined preprocessor symbols.
*
* curl_off_t
* ----------
*
* For any given platform/compiler curl_off_t must be typedef'ed to a 64-bit
* wide signed integral data type. The width of this data type must remain
* constant and independent of any possible large file support settings.
*
* As an exception to the above, curl_off_t shall be typedef'ed to a 32-bit
* wide signed integral data type if there is no 64-bit type.
*
* As a general rule, curl_off_t shall not be mapped to off_t. This rule shall
* only be violated if off_t is the only 64-bit data type available and the
* size of off_t is independent of large file support settings. Keep your
* build on the safe side avoiding an off_t gating. If you have a 64-bit
* off_t then take for sure that another 64-bit data type exists, dig deeper
* and you will find it.
*
*/
#if defined(__DJGPP__) || defined(__GO32__)
# if defined(__DJGPP__) && (__DJGPP__ > 1)
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# else
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T int
#elif defined(__SALFORDC__)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# define CURL_TYPEOF_CURL_SOCKLEN_T int
#elif defined(__BORLANDC__)
# if (__BORLANDC__ < 0x520)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# else
# define CURL_TYPEOF_CURL_OFF_T __int64
# define CURL_FORMAT_CURL_OFF_T "I64d"
# define CURL_FORMAT_CURL_OFF_TU "I64u"
# define CURL_SUFFIX_CURL_OFF_T i64
# define CURL_SUFFIX_CURL_OFF_TU ui64
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T int
#elif defined(__TURBOC__)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# define CURL_TYPEOF_CURL_SOCKLEN_T int
#elif defined(__WATCOMC__)
# if defined(__386__)
# define CURL_TYPEOF_CURL_OFF_T __int64
# define CURL_FORMAT_CURL_OFF_T "I64d"
# define CURL_FORMAT_CURL_OFF_TU "I64u"
# define CURL_SUFFIX_CURL_OFF_T i64
# define CURL_SUFFIX_CURL_OFF_TU ui64
# else
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T int
#elif defined(__POCC__)
# if (__POCC__ < 280)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# elif defined(_MSC_VER)
# define CURL_TYPEOF_CURL_OFF_T __int64
# define CURL_FORMAT_CURL_OFF_T "I64d"
# define CURL_FORMAT_CURL_OFF_TU "I64u"
# define CURL_SUFFIX_CURL_OFF_T i64
# define CURL_SUFFIX_CURL_OFF_TU ui64
# else
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T int
#elif defined(__LCC__)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# define CURL_TYPEOF_CURL_SOCKLEN_T int
#elif defined(__SYMBIAN32__)
# if defined(__EABI__) /* Treat all ARM compilers equally */
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# elif defined(__CW32__)
# pragma longlong on
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# elif defined(__VC32__)
# define CURL_TYPEOF_CURL_OFF_T __int64
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int
#elif defined(__MWERKS__)
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# define CURL_TYPEOF_CURL_SOCKLEN_T int
#elif defined(_WIN32_WCE)
# define CURL_TYPEOF_CURL_OFF_T __int64
# define CURL_FORMAT_CURL_OFF_T "I64d"
# define CURL_FORMAT_CURL_OFF_TU "I64u"
# define CURL_SUFFIX_CURL_OFF_T i64
# define CURL_SUFFIX_CURL_OFF_TU ui64
# define CURL_TYPEOF_CURL_SOCKLEN_T int
#elif defined(__MINGW32__)
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "I64d"
# define CURL_FORMAT_CURL_OFF_TU "I64u"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
# define CURL_PULL_SYS_TYPES_H 1
# define CURL_PULL_WS2TCPIP_H 1
#elif defined(__VMS)
# if defined(__VAX)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# else
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T unsigned int
#elif defined(__OS400__)
# if defined(__ILEC400__)
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
# define CURL_PULL_SYS_TYPES_H 1
# define CURL_PULL_SYS_SOCKET_H 1
# endif
#elif defined(__MVS__)
# if defined(__IBMC__) || defined(__IBMCPP__)
# if defined(_ILP32)
# elif defined(_LP64)
# endif
# if defined(_LONG_LONG)
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# elif defined(_LP64)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# else
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
# define CURL_PULL_SYS_TYPES_H 1
# define CURL_PULL_SYS_SOCKET_H 1
# endif
#elif defined(__370__)
# if defined(__IBMC__) || defined(__IBMCPP__)
# if defined(_ILP32)
# elif defined(_LP64)
# endif
# if defined(_LONG_LONG)
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# elif defined(_LP64)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# else
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
# define CURL_PULL_SYS_TYPES_H 1
# define CURL_PULL_SYS_SOCKET_H 1
# endif
#elif defined(TPF)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# define CURL_TYPEOF_CURL_SOCKLEN_T int
#elif defined(__TINYC__) /* also known as tcc */
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
# define CURL_PULL_SYS_TYPES_H 1
# define CURL_PULL_SYS_SOCKET_H 1
#elif defined(__SUNPRO_C) /* Oracle Solaris Studio */
# if !defined(__LP64) && (defined(__ILP32) || \
defined(__i386) || defined(__sparcv8))
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# elif defined(__LP64) || \
defined(__amd64) || defined(__sparcv9)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
# define CURL_PULL_SYS_TYPES_H 1
# define CURL_PULL_SYS_SOCKET_H 1
/* ===================================== */
/* KEEP MSVC THE PENULTIMATE ENTRY */
/* ===================================== */
#elif defined(_MSC_VER)
# if (_MSC_VER >= 900) && (_INTEGRAL_MAX_BITS >= 64)
# define CURL_TYPEOF_CURL_OFF_T __int64
# define CURL_FORMAT_CURL_OFF_T "I64d"
# define CURL_FORMAT_CURL_OFF_TU "I64u"
# define CURL_SUFFIX_CURL_OFF_T i64
# define CURL_SUFFIX_CURL_OFF_TU ui64
# else
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T int
/* ===================================== */
/* KEEP GENERIC GCC THE LAST ENTRY */
/* ===================================== */
#elif defined(__GNUC__)
# if !defined(__LP64__) && \
(defined(__ILP32__) || defined(__i386__) || defined(__hppa__) || \
defined(__ppc__) || defined(__powerpc__) || defined(__arm__) || \
defined(__sparc__) || defined(__mips__) || defined(__sh__) || \
defined(__XTENSA__) || \
(defined(__SIZEOF_LONG__) && __SIZEOF_LONG__ == 4) || \
(defined(__LONG_MAX__) && __LONG_MAX__ == 2147483647L))
# define CURL_TYPEOF_CURL_OFF_T long long
# define CURL_FORMAT_CURL_OFF_T "lld"
# define CURL_FORMAT_CURL_OFF_TU "llu"
# define CURL_SUFFIX_CURL_OFF_T LL
# define CURL_SUFFIX_CURL_OFF_TU ULL
# elif defined(__LP64__) || \
defined(__x86_64__) || defined(__ppc64__) || defined(__sparc64__) || \
(defined(__SIZEOF_LONG__) && __SIZEOF_LONG__ == 8) || \
(defined(__LONG_MAX__) && __LONG_MAX__ == 9223372036854775807L)
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# endif
# define CURL_TYPEOF_CURL_SOCKLEN_T socklen_t
# define CURL_PULL_SYS_TYPES_H 1
# define CURL_PULL_SYS_SOCKET_H 1
#else
/* generic "safe guess" on old 32 bit style */
# define CURL_TYPEOF_CURL_OFF_T long
# define CURL_FORMAT_CURL_OFF_T "ld"
# define CURL_FORMAT_CURL_OFF_TU "lu"
# define CURL_SUFFIX_CURL_OFF_T L
# define CURL_SUFFIX_CURL_OFF_TU UL
# define CURL_TYPEOF_CURL_SOCKLEN_T int
#endif
#ifdef _AIX
/* AIX needs <sys/poll.h> */
#define CURL_PULL_SYS_POLL_H
#endif
/* CURL_PULL_WS2TCPIP_H is defined above when inclusion of header file */
/* ws2tcpip.h is required here to properly make type definitions below. */
#ifdef CURL_PULL_WS2TCPIP_H
# include <winsock2.h>
# include <windows.h>
# include <ws2tcpip.h>
#endif
/* CURL_PULL_SYS_TYPES_H is defined above when inclusion of header file */
/* sys/types.h is required here to properly make type definitions below. */
#ifdef CURL_PULL_SYS_TYPES_H
# include <sys/types.h>
#endif
/* CURL_PULL_SYS_SOCKET_H is defined above when inclusion of header file */
/* sys/socket.h is required here to properly make type definitions below. */
#ifdef CURL_PULL_SYS_SOCKET_H
# include <sys/socket.h>
#endif
/* CURL_PULL_SYS_POLL_H is defined above when inclusion of header file */
/* sys/poll.h is required here to properly make type definitions below. */
#ifdef CURL_PULL_SYS_POLL_H
# include <sys/poll.h>
#endif
/* Data type definition of curl_socklen_t. */
#ifdef CURL_TYPEOF_CURL_SOCKLEN_T
typedef CURL_TYPEOF_CURL_SOCKLEN_T curl_socklen_t;
#endif
/* Data type definition of curl_off_t. */
#ifdef CURL_TYPEOF_CURL_OFF_T
typedef CURL_TYPEOF_CURL_OFF_T curl_off_t;
#endif
/*
* CURL_ISOCPP and CURL_OFF_T_C definitions are done here in order to allow
* these to be visible and exported by the external libcurl interface API,
* while also making them visible to the library internals, simply including
* curl_setup.h, without actually needing to include curl.h internally.
* If some day this section would grow big enough, all this should be moved
* to its own header file.
*/
/*
* Figure out if we can use the ## preprocessor operator, which is supported
* by ISO/ANSI C and C++. Some compilers support it without setting __STDC__
* or __cplusplus so we need to carefully check for them too.
*/
#if defined(__STDC__) || defined(_MSC_VER) || defined(__cplusplus) || \
defined(__HP_aCC) || defined(__BORLANDC__) || defined(__LCC__) || \
defined(__POCC__) || defined(__SALFORDC__) || defined(__HIGHC__) || \
defined(__ILEC400__)
/* This compiler is believed to have an ISO compatible preprocessor */
#define CURL_ISOCPP
#else
/* This compiler is believed NOT to have an ISO compatible preprocessor */
#undef CURL_ISOCPP
#endif
/*
* Macros for minimum-width signed and unsigned curl_off_t integer constants.
*/
#if defined(__BORLANDC__) && (__BORLANDC__ == 0x0551)
# define __CURL_OFF_T_C_HLPR2(x) x
# define __CURL_OFF_T_C_HLPR1(x) __CURL_OFF_T_C_HLPR2(x)
# define CURL_OFF_T_C(Val) __CURL_OFF_T_C_HLPR1(Val) ## \
__CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_T)
# define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val) ## \
__CURL_OFF_T_C_HLPR1(CURL_SUFFIX_CURL_OFF_TU)
#else
# ifdef CURL_ISOCPP
# define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val ## Suffix
# else
# define __CURL_OFF_T_C_HLPR2(Val,Suffix) Val/**/Suffix
# endif
# define __CURL_OFF_T_C_HLPR1(Val,Suffix) __CURL_OFF_T_C_HLPR2(Val,Suffix)
# define CURL_OFF_T_C(Val) __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_T)
# define CURL_OFF_TU_C(Val) __CURL_OFF_T_C_HLPR1(Val,CURL_SUFFIX_CURL_OFF_TU)
#endif
#endif /* __CURL_SYSTEM_H */

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3rdparty/curl/inc/typecheck-gcc.h vendored Normal file
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@ -0,0 +1,696 @@
#ifndef __CURL_TYPECHECK_GCC_H
#define __CURL_TYPECHECK_GCC_H
/***************************************************************************
* _ _ ____ _
* Project ___| | | | _ \| |
* / __| | | | |_) | |
* | (__| |_| | _ <| |___
* \___|\___/|_| \_\_____|
*
* Copyright (C) 1998 - 2017, Daniel Stenberg, <daniel@haxx.se>, et al.
*
* This software is licensed as described in the file COPYING, which
* you should have received as part of this distribution. The terms
* are also available at https://curl.haxx.se/docs/copyright.html.
*
* You may opt to use, copy, modify, merge, publish, distribute and/or sell
* copies of the Software, and permit persons to whom the Software is
* furnished to do so, under the terms of the COPYING file.
*
* This software is distributed on an "AS IS" basis, WITHOUT WARRANTY OF ANY
* KIND, either express or implied.
*
***************************************************************************/
/* wraps curl_easy_setopt() with typechecking */
/* To add a new kind of warning, add an
* if(_curl_is_sometype_option(_curl_opt))
* if(!_curl_is_sometype(value))
* _curl_easy_setopt_err_sometype();
* block and define _curl_is_sometype_option, _curl_is_sometype and
* _curl_easy_setopt_err_sometype below
*
* NOTE: We use two nested 'if' statements here instead of the && operator, in
* order to work around gcc bug #32061. It affects only gcc 4.3.x/4.4.x
* when compiling with -Wlogical-op.
*
* To add an option that uses the same type as an existing option, you'll just
* need to extend the appropriate _curl_*_option macro
*/
#define curl_easy_setopt(handle, option, value) \
__extension__ ({ \
__typeof__(option) _curl_opt = option; \
if(__builtin_constant_p(_curl_opt)) { \
if(_curl_is_long_option(_curl_opt)) \
if(!_curl_is_long(value)) \
_curl_easy_setopt_err_long(); \
if(_curl_is_off_t_option(_curl_opt)) \
if(!_curl_is_off_t(value)) \
_curl_easy_setopt_err_curl_off_t(); \
if(_curl_is_string_option(_curl_opt)) \
if(!_curl_is_string(value)) \
_curl_easy_setopt_err_string(); \
if(_curl_is_write_cb_option(_curl_opt)) \
if(!_curl_is_write_cb(value)) \
_curl_easy_setopt_err_write_callback(); \
if((_curl_opt) == CURLOPT_RESOLVER_START_FUNCTION) \
if(!_curl_is_resolver_start_callback(value)) \
_curl_easy_setopt_err_resolver_start_callback(); \
if((_curl_opt) == CURLOPT_READFUNCTION) \
if(!_curl_is_read_cb(value)) \
_curl_easy_setopt_err_read_cb(); \
if((_curl_opt) == CURLOPT_IOCTLFUNCTION) \
if(!_curl_is_ioctl_cb(value)) \
_curl_easy_setopt_err_ioctl_cb(); \
if((_curl_opt) == CURLOPT_SOCKOPTFUNCTION) \
if(!_curl_is_sockopt_cb(value)) \
_curl_easy_setopt_err_sockopt_cb(); \
if((_curl_opt) == CURLOPT_OPENSOCKETFUNCTION) \
if(!_curl_is_opensocket_cb(value)) \
_curl_easy_setopt_err_opensocket_cb(); \
if((_curl_opt) == CURLOPT_PROGRESSFUNCTION) \
if(!_curl_is_progress_cb(value)) \
_curl_easy_setopt_err_progress_cb(); \
if((_curl_opt) == CURLOPT_DEBUGFUNCTION) \
if(!_curl_is_debug_cb(value)) \
_curl_easy_setopt_err_debug_cb(); \
if((_curl_opt) == CURLOPT_SSL_CTX_FUNCTION) \
if(!_curl_is_ssl_ctx_cb(value)) \
_curl_easy_setopt_err_ssl_ctx_cb(); \
if(_curl_is_conv_cb_option(_curl_opt)) \
if(!_curl_is_conv_cb(value)) \
_curl_easy_setopt_err_conv_cb(); \
if((_curl_opt) == CURLOPT_SEEKFUNCTION) \
if(!_curl_is_seek_cb(value)) \
_curl_easy_setopt_err_seek_cb(); \
if(_curl_is_cb_data_option(_curl_opt)) \
if(!_curl_is_cb_data(value)) \
_curl_easy_setopt_err_cb_data(); \
if((_curl_opt) == CURLOPT_ERRORBUFFER) \
if(!_curl_is_error_buffer(value)) \
_curl_easy_setopt_err_error_buffer(); \
if((_curl_opt) == CURLOPT_STDERR) \
if(!_curl_is_FILE(value)) \
_curl_easy_setopt_err_FILE(); \
if(_curl_is_postfields_option(_curl_opt)) \
if(!_curl_is_postfields(value)) \
_curl_easy_setopt_err_postfields(); \
if((_curl_opt) == CURLOPT_HTTPPOST) \
if(!_curl_is_arr((value), struct curl_httppost)) \
_curl_easy_setopt_err_curl_httpost(); \
if((_curl_opt) == CURLOPT_MIMEPOST) \
if(!_curl_is_ptr((value), curl_mime)) \
_curl_easy_setopt_err_curl_mimepost(); \
if(_curl_is_slist_option(_curl_opt)) \
if(!_curl_is_arr((value), struct curl_slist)) \
_curl_easy_setopt_err_curl_slist(); \
if((_curl_opt) == CURLOPT_SHARE) \
if(!_curl_is_ptr((value), CURLSH)) \
_curl_easy_setopt_err_CURLSH(); \
} \
curl_easy_setopt(handle, _curl_opt, value); \
})
/* wraps curl_easy_getinfo() with typechecking */
/* FIXME: don't allow const pointers */
#define curl_easy_getinfo(handle, info, arg) \
__extension__ ({ \
__typeof__(info) _curl_info = info; \
if(__builtin_constant_p(_curl_info)) { \
if(_curl_is_string_info(_curl_info)) \
if(!_curl_is_arr((arg), char *)) \
_curl_easy_getinfo_err_string(); \
if(_curl_is_long_info(_curl_info)) \
if(!_curl_is_arr((arg), long)) \
_curl_easy_getinfo_err_long(); \
if(_curl_is_double_info(_curl_info)) \
if(!_curl_is_arr((arg), double)) \
_curl_easy_getinfo_err_double(); \
if(_curl_is_slist_info(_curl_info)) \
if(!_curl_is_arr((arg), struct curl_slist *)) \
_curl_easy_getinfo_err_curl_slist(); \
if(_curl_is_tlssessioninfo_info(_curl_info)) \
if(!_curl_is_arr((arg), struct curl_tlssessioninfo *)) \
_curl_easy_getinfo_err_curl_tlssesssioninfo(); \
if(_curl_is_certinfo_info(_curl_info)) \
if(!_curl_is_arr((arg), struct curl_certinfo *)) \
_curl_easy_getinfo_err_curl_certinfo(); \
if(_curl_is_socket_info(_curl_info)) \
if(!_curl_is_arr((arg), curl_socket_t)) \
_curl_easy_getinfo_err_curl_socket(); \
if(_curl_is_off_t_info(_curl_info)) \
if(!_curl_is_arr((arg), curl_off_t)) \
_curl_easy_getinfo_err_curl_off_t(); \
} \
curl_easy_getinfo(handle, _curl_info, arg); \
})
/* TODO: typechecking for curl_share_setopt() and curl_multi_setopt(),
* for now just make sure that the functions are called with three
* arguments
*/
#define curl_share_setopt(share,opt,param) curl_share_setopt(share,opt,param)
#define curl_multi_setopt(handle,opt,param) curl_multi_setopt(handle,opt,param)
/* the actual warnings, triggered by calling the _curl_easy_setopt_err*
* functions */
/* To define a new warning, use _CURL_WARNING(identifier, "message") */
#define _CURL_WARNING(id, message) \
static void __attribute__((__warning__(message))) \
__attribute__((__unused__)) __attribute__((__noinline__)) \
id(void) { __asm__(""); }
_CURL_WARNING(_curl_easy_setopt_err_long,
"curl_easy_setopt expects a long argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_curl_off_t,
"curl_easy_setopt expects a curl_off_t argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_string,
"curl_easy_setopt expects a "
"string ('char *' or char[]) argument for this option"
)
_CURL_WARNING(_curl_easy_setopt_err_write_callback,
"curl_easy_setopt expects a curl_write_callback argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_resolver_start_callback,
"curl_easy_setopt expects a "
"curl_resolver_start_callback argument for this option"
)
_CURL_WARNING(_curl_easy_setopt_err_read_cb,
"curl_easy_setopt expects a curl_read_callback argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_ioctl_cb,
"curl_easy_setopt expects a curl_ioctl_callback argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_sockopt_cb,
"curl_easy_setopt expects a curl_sockopt_callback argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_opensocket_cb,
"curl_easy_setopt expects a "
"curl_opensocket_callback argument for this option"
)
_CURL_WARNING(_curl_easy_setopt_err_progress_cb,
"curl_easy_setopt expects a curl_progress_callback argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_debug_cb,
"curl_easy_setopt expects a curl_debug_callback argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_ssl_ctx_cb,
"curl_easy_setopt expects a curl_ssl_ctx_callback argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_conv_cb,
"curl_easy_setopt expects a curl_conv_callback argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_seek_cb,
"curl_easy_setopt expects a curl_seek_callback argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_cb_data,
"curl_easy_setopt expects a "
"private data pointer as argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_error_buffer,
"curl_easy_setopt expects a "
"char buffer of CURL_ERROR_SIZE as argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_FILE,
"curl_easy_setopt expects a 'FILE *' argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_postfields,
"curl_easy_setopt expects a 'void *' or 'char *' argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_curl_httpost,
"curl_easy_setopt expects a 'struct curl_httppost *' "
"argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_curl_mimepost,
"curl_easy_setopt expects a 'curl_mime *' "
"argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_curl_slist,
"curl_easy_setopt expects a 'struct curl_slist *' argument for this option")
_CURL_WARNING(_curl_easy_setopt_err_CURLSH,
"curl_easy_setopt expects a CURLSH* argument for this option")
_CURL_WARNING(_curl_easy_getinfo_err_string,
"curl_easy_getinfo expects a pointer to 'char *' for this info")
_CURL_WARNING(_curl_easy_getinfo_err_long,
"curl_easy_getinfo expects a pointer to long for this info")
_CURL_WARNING(_curl_easy_getinfo_err_double,
"curl_easy_getinfo expects a pointer to double for this info")
_CURL_WARNING(_curl_easy_getinfo_err_curl_slist,
"curl_easy_getinfo expects a pointer to 'struct curl_slist *' for this info")
_CURL_WARNING(_curl_easy_getinfo_err_curl_tlssesssioninfo,
"curl_easy_getinfo expects a pointer to "
"'struct curl_tlssessioninfo *' for this info")
_CURL_WARNING(_curl_easy_getinfo_err_curl_certinfo,
"curl_easy_getinfo expects a pointer to "
"'struct curl_certinfo *' for this info")
_CURL_WARNING(_curl_easy_getinfo_err_curl_socket,
"curl_easy_getinfo expects a pointer to curl_socket_t for this info")
_CURL_WARNING(_curl_easy_getinfo_err_curl_off_t,
"curl_easy_getinfo expects a pointer to curl_off_t for this info")
/* groups of curl_easy_setops options that take the same type of argument */
/* To add a new option to one of the groups, just add
* (option) == CURLOPT_SOMETHING
* to the or-expression. If the option takes a long or curl_off_t, you don't
* have to do anything
*/
/* evaluates to true if option takes a long argument */
#define _curl_is_long_option(option) \
(0 < (option) && (option) < CURLOPTTYPE_OBJECTPOINT)
#define _curl_is_off_t_option(option) \
((option) > CURLOPTTYPE_OFF_T)
/* evaluates to true if option takes a char* argument */
#define _curl_is_string_option(option) \
((option) == CURLOPT_ABSTRACT_UNIX_SOCKET || \
(option) == CURLOPT_ACCEPT_ENCODING || \
(option) == CURLOPT_CAINFO || \
(option) == CURLOPT_CAPATH || \
(option) == CURLOPT_COOKIE || \
(option) == CURLOPT_COOKIEFILE || \
(option) == CURLOPT_COOKIEJAR || \
(option) == CURLOPT_COOKIELIST || \
(option) == CURLOPT_CRLFILE || \
(option) == CURLOPT_CUSTOMREQUEST || \
(option) == CURLOPT_DEFAULT_PROTOCOL || \
(option) == CURLOPT_DNS_INTERFACE || \
(option) == CURLOPT_DNS_LOCAL_IP4 || \
(option) == CURLOPT_DNS_LOCAL_IP6 || \
(option) == CURLOPT_DNS_SERVERS || \
(option) == CURLOPT_EGDSOCKET || \
(option) == CURLOPT_FTPPORT || \
(option) == CURLOPT_FTP_ACCOUNT || \
(option) == CURLOPT_FTP_ALTERNATIVE_TO_USER || \
(option) == CURLOPT_INTERFACE || \
(option) == CURLOPT_ISSUERCERT || \
(option) == CURLOPT_KEYPASSWD || \
(option) == CURLOPT_KRBLEVEL || \
(option) == CURLOPT_LOGIN_OPTIONS || \
(option) == CURLOPT_MAIL_AUTH || \
(option) == CURLOPT_MAIL_FROM || \
(option) == CURLOPT_NETRC_FILE || \
(option) == CURLOPT_NOPROXY || \
(option) == CURLOPT_PASSWORD || \
(option) == CURLOPT_PINNEDPUBLICKEY || \
(option) == CURLOPT_PRE_PROXY || \
(option) == CURLOPT_PROXY || \
(option) == CURLOPT_PROXYPASSWORD || \
(option) == CURLOPT_PROXYUSERNAME || \
(option) == CURLOPT_PROXYUSERPWD || \
(option) == CURLOPT_PROXY_CAINFO || \
(option) == CURLOPT_PROXY_CAPATH || \
(option) == CURLOPT_PROXY_CRLFILE || \
(option) == CURLOPT_PROXY_KEYPASSWD || \
(option) == CURLOPT_PROXY_PINNEDPUBLICKEY || \
(option) == CURLOPT_PROXY_SERVICE_NAME || \
(option) == CURLOPT_PROXY_SSLCERT || \
(option) == CURLOPT_PROXY_SSLCERTTYPE || \
(option) == CURLOPT_PROXY_SSLKEY || \
(option) == CURLOPT_PROXY_SSLKEYTYPE || \
(option) == CURLOPT_PROXY_SSL_CIPHER_LIST || \
(option) == CURLOPT_PROXY_TLSAUTH_PASSWORD || \
(option) == CURLOPT_PROXY_TLSAUTH_USERNAME || \
(option) == CURLOPT_PROXY_TLSAUTH_TYPE || \
(option) == CURLOPT_RANDOM_FILE || \
(option) == CURLOPT_RANGE || \
(option) == CURLOPT_REFERER || \
(option) == CURLOPT_RTSP_SESSION_ID || \
(option) == CURLOPT_RTSP_STREAM_URI || \
(option) == CURLOPT_RTSP_TRANSPORT || \
(option) == CURLOPT_SERVICE_NAME || \
(option) == CURLOPT_SOCKS5_GSSAPI_SERVICE || \
(option) == CURLOPT_SSH_HOST_PUBLIC_KEY_MD5 || \
(option) == CURLOPT_SSH_KNOWNHOSTS || \
(option) == CURLOPT_SSH_PRIVATE_KEYFILE || \
(option) == CURLOPT_SSH_PUBLIC_KEYFILE || \
(option) == CURLOPT_SSLCERT || \
(option) == CURLOPT_SSLCERTTYPE || \
(option) == CURLOPT_SSLENGINE || \
(option) == CURLOPT_SSLKEY || \
(option) == CURLOPT_SSLKEYTYPE || \
(option) == CURLOPT_SSL_CIPHER_LIST || \
(option) == CURLOPT_TLSAUTH_PASSWORD || \
(option) == CURLOPT_TLSAUTH_TYPE || \
(option) == CURLOPT_TLSAUTH_USERNAME || \
(option) == CURLOPT_UNIX_SOCKET_PATH || \
(option) == CURLOPT_URL || \
(option) == CURLOPT_USERAGENT || \
(option) == CURLOPT_USERNAME || \
(option) == CURLOPT_USERPWD || \
(option) == CURLOPT_XOAUTH2_BEARER || \
0)
/* evaluates to true if option takes a curl_write_callback argument */
#define _curl_is_write_cb_option(option) \
((option) == CURLOPT_HEADERFUNCTION || \
(option) == CURLOPT_WRITEFUNCTION)
/* evaluates to true if option takes a curl_conv_callback argument */
#define _curl_is_conv_cb_option(option) \
((option) == CURLOPT_CONV_TO_NETWORK_FUNCTION || \
(option) == CURLOPT_CONV_FROM_NETWORK_FUNCTION || \
(option) == CURLOPT_CONV_FROM_UTF8_FUNCTION)
/* evaluates to true if option takes a data argument to pass to a callback */
#define _curl_is_cb_data_option(option) \
((option) == CURLOPT_CHUNK_DATA || \
(option) == CURLOPT_CLOSESOCKETDATA || \
(option) == CURLOPT_DEBUGDATA || \
(option) == CURLOPT_FNMATCH_DATA || \
(option) == CURLOPT_HEADERDATA || \
(option) == CURLOPT_INTERLEAVEDATA || \
(option) == CURLOPT_IOCTLDATA || \
(option) == CURLOPT_OPENSOCKETDATA || \
(option) == CURLOPT_PRIVATE || \
(option) == CURLOPT_PROGRESSDATA || \
(option) == CURLOPT_READDATA || \
(option) == CURLOPT_SEEKDATA || \
(option) == CURLOPT_SOCKOPTDATA || \
(option) == CURLOPT_SSH_KEYDATA || \
(option) == CURLOPT_SSL_CTX_DATA || \
(option) == CURLOPT_WRITEDATA || \
(option) == CURLOPT_RESOLVER_START_DATA || \
0)
/* evaluates to true if option takes a POST data argument (void* or char*) */
#define _curl_is_postfields_option(option) \
((option) == CURLOPT_POSTFIELDS || \
(option) == CURLOPT_COPYPOSTFIELDS || \
0)
/* evaluates to true if option takes a struct curl_slist * argument */
#define _curl_is_slist_option(option) \
((option) == CURLOPT_HTTP200ALIASES || \
(option) == CURLOPT_HTTPHEADER || \
(option) == CURLOPT_MAIL_RCPT || \
(option) == CURLOPT_POSTQUOTE || \
(option) == CURLOPT_PREQUOTE || \
(option) == CURLOPT_PROXYHEADER || \
(option) == CURLOPT_QUOTE || \
(option) == CURLOPT_RESOLVE || \
(option) == CURLOPT_TELNETOPTIONS || \
0)
/* groups of curl_easy_getinfo infos that take the same type of argument */
/* evaluates to true if info expects a pointer to char * argument */
#define _curl_is_string_info(info) \
(CURLINFO_STRING < (info) && (info) < CURLINFO_LONG)
/* evaluates to true if info expects a pointer to long argument */
#define _curl_is_long_info(info) \
(CURLINFO_LONG < (info) && (info) < CURLINFO_DOUBLE)
/* evaluates to true if info expects a pointer to double argument */
#define _curl_is_double_info(info) \
(CURLINFO_DOUBLE < (info) && (info) < CURLINFO_SLIST)
/* true if info expects a pointer to struct curl_slist * argument */
#define _curl_is_slist_info(info) \
(((info) == CURLINFO_SSL_ENGINES) || ((info) == CURLINFO_COOKIELIST))
/* true if info expects a pointer to struct curl_tlssessioninfo * argument */
#define _curl_is_tlssessioninfo_info(info) \
(((info) == CURLINFO_TLS_SSL_PTR) || ((info) == CURLINFO_TLS_SESSION))
/* true if info expects a pointer to struct curl_certinfo * argument */
#define _curl_is_certinfo_info(info) ((info) == CURLINFO_CERTINFO)
/* true if info expects a pointer to struct curl_socket_t argument */
#define _curl_is_socket_info(info) \
(CURLINFO_SOCKET < (info) && (info) < CURLINFO_OFF_T)
/* true if info expects a pointer to curl_off_t argument */
#define _curl_is_off_t_info(info) \
(CURLINFO_OFF_T < (info))
/* typecheck helpers -- check whether given expression has requested type*/
/* For pointers, you can use the _curl_is_ptr/_curl_is_arr macros,
* otherwise define a new macro. Search for __builtin_types_compatible_p
* in the GCC manual.
* NOTE: these macros MUST NOT EVALUATE their arguments! The argument is
* the actual expression passed to the curl_easy_setopt macro. This
* means that you can only apply the sizeof and __typeof__ operators, no
* == or whatsoever.
*/
/* XXX: should evaluate to true iff expr is a pointer */
#define _curl_is_any_ptr(expr) \
(sizeof(expr) == sizeof(void *))
/* evaluates to true if expr is NULL */
/* XXX: must not evaluate expr, so this check is not accurate */
#define _curl_is_NULL(expr) \
(__builtin_types_compatible_p(__typeof__(expr), __typeof__(NULL)))
/* evaluates to true if expr is type*, const type* or NULL */
#define _curl_is_ptr(expr, type) \
(_curl_is_NULL(expr) || \
__builtin_types_compatible_p(__typeof__(expr), type *) || \
__builtin_types_compatible_p(__typeof__(expr), const type *))
/* evaluates to true if expr is one of type[], type*, NULL or const type* */
#define _curl_is_arr(expr, type) \
(_curl_is_ptr((expr), type) || \
__builtin_types_compatible_p(__typeof__(expr), type []))
/* evaluates to true if expr is a string */
#define _curl_is_string(expr) \
(_curl_is_arr((expr), char) || \
_curl_is_arr((expr), signed char) || \
_curl_is_arr((expr), unsigned char))
/* evaluates to true if expr is a long (no matter the signedness)
* XXX: for now, int is also accepted (and therefore short and char, which
* are promoted to int when passed to a variadic function) */
#define _curl_is_long(expr) \
(__builtin_types_compatible_p(__typeof__(expr), long) || \
__builtin_types_compatible_p(__typeof__(expr), signed long) || \
__builtin_types_compatible_p(__typeof__(expr), unsigned long) || \
__builtin_types_compatible_p(__typeof__(expr), int) || \
__builtin_types_compatible_p(__typeof__(expr), signed int) || \
__builtin_types_compatible_p(__typeof__(expr), unsigned int) || \
__builtin_types_compatible_p(__typeof__(expr), short) || \
__builtin_types_compatible_p(__typeof__(expr), signed short) || \
__builtin_types_compatible_p(__typeof__(expr), unsigned short) || \
__builtin_types_compatible_p(__typeof__(expr), char) || \
__builtin_types_compatible_p(__typeof__(expr), signed char) || \
__builtin_types_compatible_p(__typeof__(expr), unsigned char))
/* evaluates to true if expr is of type curl_off_t */
#define _curl_is_off_t(expr) \
(__builtin_types_compatible_p(__typeof__(expr), curl_off_t))
/* evaluates to true if expr is abuffer suitable for CURLOPT_ERRORBUFFER */
/* XXX: also check size of an char[] array? */
#define _curl_is_error_buffer(expr) \
(_curl_is_NULL(expr) || \
__builtin_types_compatible_p(__typeof__(expr), char *) || \
__builtin_types_compatible_p(__typeof__(expr), char[]))
/* evaluates to true if expr is of type (const) void* or (const) FILE* */
#if 0
#define _curl_is_cb_data(expr) \
(_curl_is_ptr((expr), void) || \
_curl_is_ptr((expr), FILE))
#else /* be less strict */
#define _curl_is_cb_data(expr) \
_curl_is_any_ptr(expr)
#endif
/* evaluates to true if expr is of type FILE* */
#define _curl_is_FILE(expr) \
(_curl_is_NULL(expr) || \
(__builtin_types_compatible_p(__typeof__(expr), FILE *)))
/* evaluates to true if expr can be passed as POST data (void* or char*) */
#define _curl_is_postfields(expr) \
(_curl_is_ptr((expr), void) || \
_curl_is_arr((expr), char))
/* FIXME: the whole callback checking is messy...
* The idea is to tolerate char vs. void and const vs. not const
* pointers in arguments at least
*/
/* helper: __builtin_types_compatible_p distinguishes between functions and
* function pointers, hide it */
#define _curl_callback_compatible(func, type) \
(__builtin_types_compatible_p(__typeof__(func), type) || \
__builtin_types_compatible_p(__typeof__(func) *, type))
/* evaluates to true if expr is of type curl_resolver_start_callback */
#define _curl_is_resolver_start_callback(expr) \
(_curl_is_NULL(expr) || \
_curl_callback_compatible((expr), curl_resolver_start_callback))
/* evaluates to true if expr is of type curl_read_callback or "similar" */
#define _curl_is_read_cb(expr) \
(_curl_is_NULL(expr) || \
_curl_callback_compatible((expr), __typeof__(fread) *) || \
_curl_callback_compatible((expr), curl_read_callback) || \
_curl_callback_compatible((expr), _curl_read_callback1) || \
_curl_callback_compatible((expr), _curl_read_callback2) || \
_curl_callback_compatible((expr), _curl_read_callback3) || \
_curl_callback_compatible((expr), _curl_read_callback4) || \
_curl_callback_compatible((expr), _curl_read_callback5) || \
_curl_callback_compatible((expr), _curl_read_callback6))
typedef size_t (*_curl_read_callback1)(char *, size_t, size_t, void *);
typedef size_t (*_curl_read_callback2)(char *, size_t, size_t, const void *);
typedef size_t (*_curl_read_callback3)(char *, size_t, size_t, FILE *);
typedef size_t (*_curl_read_callback4)(void *, size_t, size_t, void *);
typedef size_t (*_curl_read_callback5)(void *, size_t, size_t, const void *);
typedef size_t (*_curl_read_callback6)(void *, size_t, size_t, FILE *);
/* evaluates to true if expr is of type curl_write_callback or "similar" */
#define _curl_is_write_cb(expr) \
(_curl_is_read_cb(expr) || \
_curl_callback_compatible((expr), __typeof__(fwrite) *) || \
_curl_callback_compatible((expr), curl_write_callback) || \
_curl_callback_compatible((expr), _curl_write_callback1) || \
_curl_callback_compatible((expr), _curl_write_callback2) || \
_curl_callback_compatible((expr), _curl_write_callback3) || \
_curl_callback_compatible((expr), _curl_write_callback4) || \
_curl_callback_compatible((expr), _curl_write_callback5) || \
_curl_callback_compatible((expr), _curl_write_callback6))
typedef size_t (*_curl_write_callback1)(const char *, size_t, size_t, void *);
typedef size_t (*_curl_write_callback2)(const char *, size_t, size_t,
const void *);
typedef size_t (*_curl_write_callback3)(const char *, size_t, size_t, FILE *);
typedef size_t (*_curl_write_callback4)(const void *, size_t, size_t, void *);
typedef size_t (*_curl_write_callback5)(const void *, size_t, size_t,
const void *);
typedef size_t (*_curl_write_callback6)(const void *, size_t, size_t, FILE *);
/* evaluates to true if expr is of type curl_ioctl_callback or "similar" */
#define _curl_is_ioctl_cb(expr) \
(_curl_is_NULL(expr) || \
_curl_callback_compatible((expr), curl_ioctl_callback) || \
_curl_callback_compatible((expr), _curl_ioctl_callback1) || \
_curl_callback_compatible((expr), _curl_ioctl_callback2) || \
_curl_callback_compatible((expr), _curl_ioctl_callback3) || \
_curl_callback_compatible((expr), _curl_ioctl_callback4))
typedef curlioerr (*_curl_ioctl_callback1)(CURL *, int, void *);
typedef curlioerr (*_curl_ioctl_callback2)(CURL *, int, const void *);
typedef curlioerr (*_curl_ioctl_callback3)(CURL *, curliocmd, void *);
typedef curlioerr (*_curl_ioctl_callback4)(CURL *, curliocmd, const void *);
/* evaluates to true if expr is of type curl_sockopt_callback or "similar" */
#define _curl_is_sockopt_cb(expr) \
(_curl_is_NULL(expr) || \
_curl_callback_compatible((expr), curl_sockopt_callback) || \
_curl_callback_compatible((expr), _curl_sockopt_callback1) || \
_curl_callback_compatible((expr), _curl_sockopt_callback2))
typedef int (*_curl_sockopt_callback1)(void *, curl_socket_t, curlsocktype);
typedef int (*_curl_sockopt_callback2)(const void *, curl_socket_t,
curlsocktype);
/* evaluates to true if expr is of type curl_opensocket_callback or
"similar" */
#define _curl_is_opensocket_cb(expr) \
(_curl_is_NULL(expr) || \
_curl_callback_compatible((expr), curl_opensocket_callback) || \
_curl_callback_compatible((expr), _curl_opensocket_callback1) || \
_curl_callback_compatible((expr), _curl_opensocket_callback2) || \
_curl_callback_compatible((expr), _curl_opensocket_callback3) || \
_curl_callback_compatible((expr), _curl_opensocket_callback4))
typedef curl_socket_t (*_curl_opensocket_callback1)
(void *, curlsocktype, struct curl_sockaddr *);
typedef curl_socket_t (*_curl_opensocket_callback2)
(void *, curlsocktype, const struct curl_sockaddr *);
typedef curl_socket_t (*_curl_opensocket_callback3)
(const void *, curlsocktype, struct curl_sockaddr *);
typedef curl_socket_t (*_curl_opensocket_callback4)
(const void *, curlsocktype, const struct curl_sockaddr *);
/* evaluates to true if expr is of type curl_progress_callback or "similar" */
#define _curl_is_progress_cb(expr) \
(_curl_is_NULL(expr) || \
_curl_callback_compatible((expr), curl_progress_callback) || \
_curl_callback_compatible((expr), _curl_progress_callback1) || \
_curl_callback_compatible((expr), _curl_progress_callback2))
typedef int (*_curl_progress_callback1)(void *,
double, double, double, double);
typedef int (*_curl_progress_callback2)(const void *,
double, double, double, double);
/* evaluates to true if expr is of type curl_debug_callback or "similar" */
#define _curl_is_debug_cb(expr) \
(_curl_is_NULL(expr) || \
_curl_callback_compatible((expr), curl_debug_callback) || \
_curl_callback_compatible((expr), _curl_debug_callback1) || \
_curl_callback_compatible((expr), _curl_debug_callback2) || \
_curl_callback_compatible((expr), _curl_debug_callback3) || \
_curl_callback_compatible((expr), _curl_debug_callback4) || \
_curl_callback_compatible((expr), _curl_debug_callback5) || \
_curl_callback_compatible((expr), _curl_debug_callback6) || \
_curl_callback_compatible((expr), _curl_debug_callback7) || \
_curl_callback_compatible((expr), _curl_debug_callback8))
typedef int (*_curl_debug_callback1) (CURL *,
curl_infotype, char *, size_t, void *);
typedef int (*_curl_debug_callback2) (CURL *,
curl_infotype, char *, size_t, const void *);
typedef int (*_curl_debug_callback3) (CURL *,
curl_infotype, const char *, size_t, void *);
typedef int (*_curl_debug_callback4) (CURL *,
curl_infotype, const char *, size_t, const void *);
typedef int (*_curl_debug_callback5) (CURL *,
curl_infotype, unsigned char *, size_t, void *);
typedef int (*_curl_debug_callback6) (CURL *,
curl_infotype, unsigned char *, size_t, const void *);
typedef int (*_curl_debug_callback7) (CURL *,
curl_infotype, const unsigned char *, size_t, void *);
typedef int (*_curl_debug_callback8) (CURL *,
curl_infotype, const unsigned char *, size_t, const void *);
/* evaluates to true if expr is of type curl_ssl_ctx_callback or "similar" */
/* this is getting even messier... */
#define _curl_is_ssl_ctx_cb(expr) \
(_curl_is_NULL(expr) || \
_curl_callback_compatible((expr), curl_ssl_ctx_callback) || \
_curl_callback_compatible((expr), _curl_ssl_ctx_callback1) || \
_curl_callback_compatible((expr), _curl_ssl_ctx_callback2) || \
_curl_callback_compatible((expr), _curl_ssl_ctx_callback3) || \
_curl_callback_compatible((expr), _curl_ssl_ctx_callback4) || \
_curl_callback_compatible((expr), _curl_ssl_ctx_callback5) || \
_curl_callback_compatible((expr), _curl_ssl_ctx_callback6) || \
_curl_callback_compatible((expr), _curl_ssl_ctx_callback7) || \
_curl_callback_compatible((expr), _curl_ssl_ctx_callback8))
typedef CURLcode (*_curl_ssl_ctx_callback1)(CURL *, void *, void *);
typedef CURLcode (*_curl_ssl_ctx_callback2)(CURL *, void *, const void *);
typedef CURLcode (*_curl_ssl_ctx_callback3)(CURL *, const void *, void *);
typedef CURLcode (*_curl_ssl_ctx_callback4)(CURL *, const void *,
const void *);
#ifdef HEADER_SSL_H
/* hack: if we included OpenSSL's ssl.h, we know about SSL_CTX
* this will of course break if we're included before OpenSSL headers...
*/
typedef CURLcode (*_curl_ssl_ctx_callback5)(CURL *, SSL_CTX, void *);
typedef CURLcode (*_curl_ssl_ctx_callback6)(CURL *, SSL_CTX, const void *);
typedef CURLcode (*_curl_ssl_ctx_callback7)(CURL *, const SSL_CTX, void *);
typedef CURLcode (*_curl_ssl_ctx_callback8)(CURL *, const SSL_CTX,
const void *);
#else
typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback5;
typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback6;
typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback7;
typedef _curl_ssl_ctx_callback1 _curl_ssl_ctx_callback8;
#endif
/* evaluates to true if expr is of type curl_conv_callback or "similar" */
#define _curl_is_conv_cb(expr) \
(_curl_is_NULL(expr) || \
_curl_callback_compatible((expr), curl_conv_callback) || \
_curl_callback_compatible((expr), _curl_conv_callback1) || \
_curl_callback_compatible((expr), _curl_conv_callback2) || \
_curl_callback_compatible((expr), _curl_conv_callback3) || \
_curl_callback_compatible((expr), _curl_conv_callback4))
typedef CURLcode (*_curl_conv_callback1)(char *, size_t length);
typedef CURLcode (*_curl_conv_callback2)(const char *, size_t length);
typedef CURLcode (*_curl_conv_callback3)(void *, size_t length);
typedef CURLcode (*_curl_conv_callback4)(const void *, size_t length);
/* evaluates to true if expr is of type curl_seek_callback or "similar" */
#define _curl_is_seek_cb(expr) \
(_curl_is_NULL(expr) || \
_curl_callback_compatible((expr), curl_seek_callback) || \
_curl_callback_compatible((expr), _curl_seek_callback1) || \
_curl_callback_compatible((expr), _curl_seek_callback2))
typedef CURLcode (*_curl_seek_callback1)(void *, curl_off_t, int);
typedef CURLcode (*_curl_seek_callback2)(const void *, curl_off_t, int);
#endif /* __CURL_TYPECHECK_GCC_H */

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#ifndef AVGLOBAL_H
#define AVGLOBAL_H
typedef int AV_int32;
typedef unsigned int AV_uint32;
#ifndef __OBJC__
typedef int AV_BOOL;
#else
typedef BOOL AV_BOOL;
#endif
typedef void* AV_HANDLE;
typedef unsigned char AV_BYTE;
typedef float AV_float;
#ifdef WIN32
typedef __int64 AV_int64;
typedef unsigned __int64 AV_uint64;
#else
typedef long long AV_int64;
typedef unsigned long long AV_uint64;
#endif
#endif

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#ifndef DHSYSABLE_H
#define DHSYSABLE_H
//////////////////////////////////////////////////////////////////////////
// 查询类型
typedef enum
{
ABILITY_DYNAMIC_CONNECT = 1, // 查询动态多连接能力
ABILITY_WATERMARK_CFG = 17, // 水印配置能力
ABILITY_WIRELESS_CFG = 18, // wireless配置能力
ABILITY_DEVALL_INFO = 26, // 设备的能力列表
ABILITY_CARD_QUERY = 0x0100, // 卡号查询能力
ABILITY_MULTIPLAY = 0x0101, // 多画面预览能力
ABILITY_QUICK_QUERY_CFG = 0x0102, // 快速查询配置能力
ABILITY_INFRARED = 0x0121, // 无线报警能力
ABILITY_TRIGGER_MODE = 0x0131, // 报警输出触发方式能力
ABILITY_DISK_SUBAREA = 0x0141, // 网络硬盘分区能力
ABILITY_DSP_CFG = 0x0151, // 查询DSP能力
ABILITY_STREAM_MEDIA = 0x0161, // 查询SIP,RTSP能力
ABILITY_INTELLI_TRACKER = 0x0171, // 查询智能跟踪能力
} DH_SYS_ABILITY;
//////////////////////////////////////////////////////////////////////////
// 设备支持功能列表
enum
{
EN_FTP = 0, // FTP 按位，1：传送录像文件 2：传送抓图文件
EN_SMTP, // SMTP 按位，1：报警传送文本邮件 2：报警传送图片 3:支持健康邮件功能
EN_NTP, // NTP 按位：1：调整系统时间
EN_AUTO_MAINTAIN, // 自动维护 按位：1：重启 2：关闭 3:删除文件
EN_VIDEO_COVER, // 区域遮挡 按位：1：多区域遮挡
EN_AUTO_REGISTER, // 主动注册 按位：1：注册后sdk主动登陆
EN_DHCP, // DHCP 按位：1：DHCP
EN_UPNP, // UPNP 按位：1：UPNP
EN_COMM_SNIFFER, // 串口抓包 按位：1:CommATM
EN_NET_SNIFFER, // 网络抓包 按位： 1：NetSniffer
EN_BURN, // 刻录功能 按位：1：查询刻录状态
EN_VIDEO_MATRIX, // 视频矩阵 按位：1：是否支持视频矩阵 2:是否支持SPOT视频矩阵 3:是否支持HDMI视频矩阵
EN_AUDIO_DETECT, // 音频检测 按位：1：是否支持音频检测
EN_STORAGE_STATION, // 存储位置 按位：1：Ftp服务器(Ips) 2：SMB 3：NFS 4：ISCSI 16：DISK 17：U盘
EN_IPSSEARCH, // IPS存储查询 按位：1：IPS存储查询
EN_SNAP, // 抓图 按位：1：分辨率2：帧率3：抓图方式4：抓图文件格式5：图画质量
EN_DEFAULTNIC, // 支持默认网卡查询 按位 1：支持
EN_SHOWQUALITY, // CBR模式下显示画质配置项 按位 1:支持
EN_CONFIG_IMEXPORT, // 配置导入导出功能能力 按位 1:支持
EN_LOG, // 是否支持分页方式的日志查询 按位 1：支持
EN_SCHEDULE, // 录像设置的一些能力 按位 1:冗余 2:预录 3:录像时间段
EN_NETWORK_TYPE, // 网络类型按位表示 1:以态网 2:无线局域 3:CDMA/GPRS 4:CDMA/GPRS多网卡配置
EN_MARK_IMPORTANTRECORD, // 标识重要录像 按位:1：设置重要录像标识
EN_ACFCONTROL, // 活动帧率控制 按位：1：支持活动帧率控制, 2:支持定时报警类型活动帧率控制(不支持动检),该能力与ACF能力互斥
EN_MULTIASSIOPTION, // 多路辅码流 按位：1：支持三路辅码流, 2:支持辅码流编码压缩格式独立设置
EN_DAVINCIMODULE, // 组件化模块 按位：1，时间表分开处理 2:标准I帧间隔设置
EN_GPS, // GPS功能 按位：1：Gps定位功能
EN_MULTIETHERNET, // 支持多网卡查询 按位 1：支持
EN_LOGIN_ATTRIBUTE, // Login属性 按位：1：支持Login属性查询
EN_RECORD_GENERAL, // 录像相关 按位：1，普通录像；2：报警录像；3：动态检测录像；4：本地存储；5：远程存储；6：冗余存储；7：本地紧急存储；8：支持区分主辅码流的远程存储
EN_JSON_CONFIG, // Json格式配置:按位：1支持Json格式, 2: 使用F6的NAS配置, 3: 使用F6的Raid配置, 4：使用F6的MotionDetect配置, 5：完整支持三代配置(V3)，通过F6命令访问
EN_HIDE_FUNCTION, // 屏蔽功能：按位：1，屏蔽PTZ云台功能, 2: 屏蔽3G的保活时段功能
EN_DISK_DAMAGE, // 硬盘坏道信息支持能力: 按位：1，硬盘坏道信息查询支持能力
EN_PLAYBACK_SPEED_CTRL, // 支持回放网传速度控制:按位:1，支持回放加速
EN_HOLIDAYSCHEDULE, // 支持假期时间段配置:按位:1，支持假期时间段配置
EN_FETCH_MONEY_TIMEOUT, // ATM取钱超时
EN_BACKUP_VIDEO_FORMAT, // 备份支持的格式，按位：1:DAV, 2:ASF
EN_QUERY_DISK_TYPE, // 支持硬盘类型查询
EN_CONFIG_DISPLAY_OUTPUT, // 支持设备显示输出（VGA等）配置,按位: 1:画面分割轮巡配置
EN_SUBBITRATE_RECORD_CTRL, // 支持扩展码流录像控制设置, 按位：1-辅码流录像控制设置
EN_IPV6, // 支持IPV6设置, 按位：1-IPV6配置
EN_SNMP, // SNMP（简单网络管理协议）
EN_QUERY_URL, // 支持获取设备URL地址, 按位: 1-查询配置URL地址
EN_ISCSI, // ISCSI（Internet小型计算机系统接口配置）
EN_RAID, // 支持Raid功能
EN_HARDDISK_INFO, // 支持磁盘信息F5查询
EN_PICINPIC, // 支持画中画功能 按位:1,画中画设置; 2,画中画预览、录像存储、查询、下载;3,支持画中画编码配置，同时支持画中画通道查询
EN_PLAYBACK_SPEED_CTRL_SUPPORT, // 同 EN_PLAYBACK_SPEED_CTRL ，只为了兼容协议
EN_LF_XDEV, // 支持24、32、64路LF-X系列，标注这类设备特殊的编码能力计算方式
EN_DSP_ENCODE_CAP, // F5 DSP编码能力查询
EN_MULTICAST, // 组播能力查询
EM_NET_LIMIT, // 网络限制能力查询，按位，1-网络发送码流大小限
EM_COM422, // 串口422
EM_PROTOCAL_FRAMEWORK, // 是否支持三代协议框架（需要实现listMethod(),listService()），通过F6命令访问
EM_WRITE_DISK_OSD, // 刻录OSD叠加, 按位, 1-刻录OSD叠加配置
EM_DYNAMIC_MULTI_CONNECT, // 动态多连接, 按位, 1-请求视频数据应答
EM_CLOUDSERVICE, // 云服务,按位，1-支持私有云服务
EM_RECORD_INFO, // 录像信息上报, 按位, 1-录像信息主动上报, 2-支持录像帧数查询
EN_DYNAMIC_REG, // 主动注册能力，按位，1-支持动态主动注册
};
typedef struct
{
DWORD IsFucEnable[512]; // 功能列表能力集,下标对应上述的枚举值,按位表示子功能
} DH_DEV_ENABLE_INFO;
//////////////////////////////////////////////////////////////////////////
// 卡号查询能力结构体
typedef struct
{
char IsCardQueryEnable;
char iRev[3];
} DH_CARD_QUERY_EN;
//////////////////////////////////////////////////////////////////////////
// wireless能力结构体
typedef struct
{
char IsWirelessEnable;
char iRev[3];
} DH_WIRELESS_EN;
//////////////////////////////////////////////////////////////////////////
// 图象水印能力结构体
typedef struct
{
char isSupportWM; // 1 支持；0 不支持
char supportWhat; // 0：文字水印；1：图片水印；2：同时支持文字水印和图片水印
char reserved[2];
} DH_WATERMAKE_EN;
//////////////////////////////////////////////////////////////////////////
// 多画面预览能力结构体
typedef struct
{
int nEnable; // 1 支持；0 不支持
DWORD dwMultiPlayMask; // 多画面预览掩码
char reserved[4]; // 保留
} DH_MULTIPLAY_EN;
//////////////////////////////////////////////////////////////////////////
// 无线报警能力结构体
typedef struct
{
BOOL bSupport; // 是否支持
int nAlarmInCount; // 输入个数
int nAlarmOutCount; // 输出个数
int nRemoteAddrCount; // 遥控器个数
BYTE reserved[32];
} DH_WIRELESS_ALARM_INFO;
//////////////////////////////////////////////////////////////////////////
// 网络硬盘分区能力结构体
typedef struct
{
BOOL bSupported; // 是否支持网络硬盘分区
int nSupportNum; // 支持分区的数目
BYTE bReserved[32]; // 保留字节
} DH_DISK_SUBAREA_EN;
// DSP能力查询，当DSP能力算法标识为2时使用。
typedef struct
{
BYTE bMainFrame[32]; // 以分辨率枚举值(CAPTURE_SIZE)为索引,主码流分辨率对应支持的最大帧率,如果不支持此分辨率,则值为0.
BYTE bExtraFrame_1[32]; // 辅码流1,使用同bMainFrame
BYTE bReserved[128]; // 预留给辅码流2和3.
} DH_DSP_CFG_ITEM;
typedef struct
{
int nItemNum; // DH_DSP_CFG_ITEM的有效个数,等于通道数
DH_DSP_CFG_ITEM stuDspCfgItem[32]; // 主码流的信息
BYTE bReserved[128]; // 保留
} DH_DSP_CFG;
//////////////////////////////////////////////////////////////////////////
// 快速查询配置能力结构体
typedef struct
{
char IsQuickQueryEnable; // 1是设备支持配置命令快速返回，请设置配置时间足够长以保证窄带下配置的正常读取。建议设置60S
char iRev[3];
} DH_QUICK_QUERY_CFG_EN;
typedef struct
{
int nStreamType; // 0,无 1,SIP 2,RTSP
BYTE bReserved[16]; // 保留
} DH_STREAM_MEDIA_EN;
//智能球跟踪能力查询
typedef struct
{
char IsIntelliTrackerEnable; // 大于0表示具有智能球跟踪能力
BYTE bReserved[3];
}DH_INTELLI_TRACKER_EN;
#endif // DHSYSABLE_H

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#ifndef DATA_TYPE_H
#define DATA_TYPE_H
#define FRAME_HEAD_MAGIC 0x03211546
#define SYSTEM_SYNC_ID 2
#ifdef __LINUX__
typedef unsigned char UCHAR;
typedef unsigned char* PBYTE;
typedef char* LPTSTR;
typedef unsigned short USHORT;
typedef int HANDLE;
typedef unsigned long ULONG;
typedef unsigned long DWORD;
#endif //#ifdef __LINUX__
typedef struct tagFrameInfo{
ULONG SyncId; /* 00000000000000000000000000010b */
ULONG Magic;
USHORT FrameType; /* I frames , P frames or BBP frames Audio frames or dsp status etc */
ULONG Length; /*lenth include this header */
ULONG FrameNumber; /* serial number of this frame */
UCHAR Breakable; /* indicate if stream breakable, you could restart new file(with PktSysHeader) if true */
/*ULONG Ack;*/
ULONG PTS; /* system clock when this frames is processed */
}TMFRAME_HEADER, *PTMFRAME_HEADER;
typedef enum {
StandardNone = 0x80000000,
StandardNTSC = 0x00000001,
StandardPAL = 0x00000002,
StandardSECAM = 0x00000004,
} VideoStandard_t;
typedef enum {
PktError = 0,
PktIFrames = 0x0001,
PktPFrames = 0x0002,
PktBBPFrames = 0x0004,
PktAudioFrames = 0x0008,
PktMotionDetection = 0x00010,
PktDspStatus = 0x00020,
PktOrigImage = 0x00040,
PktSysHeader = 0x00080,
PktBPFrames = 0x00100,
PktSFrames = 0x00200,
PktSubIFrames = 0x00400,
PktSubPFrames = 0x00800,
PktSubBBPFrames = 0x01000,
PktSubSysHeader = 0x02000
}FrameType_t;
typedef struct tagVersion{
ULONG DspVersion, DspBuildNum;
ULONG DriverVersion, DriverBuildNum;
ULONG SDKVersion, SDKBuildNum;
}VERSION_INFO, *PVERSION_INFO;
typedef enum {
ENC_CIF_FORMAT = 0,
ENC_QCIF_FORMAT = 1,
ENC_2CIF_FORMAT = 2,
ENC_4CIF_FORMAT = 3,
ENC_QQCIF_FORMAT = 4,
ENC_CIFQCIF_FORMAT =5,
ENC_CIFQQCIF_FORMAT =6,
ENC_DCIF_FORMAT =7,
ENC_VGA_FORMAT=8
}PictureFormat_t;
typedef struct tagMotionData{
PictureFormat_t PicFormat;
ULONG HorizeBlocks;
ULONG VerticalBlocks;
ULONG BlockSize;
}MOTION_DATA_HEADER, *PMOTION_DATA_HEADER;
#define _OSD_BASE 0x9000 /*base address of special character*/
#define _OSD_YEAR4 (_OSD_BASE+0) /*show year time by length of 4 , for example: 2005*/
#define _OSD_YEAR2 (_OSD_BASE+1) /*show year time by length of 2, for example: 05 */
#define _OSD_MONTH3 (_OSD_BASE+2) /*show month time in English, for example: Jan*/
#define _OSD_MONTH2 (_OSD_BASE+3) /*show month time by two Arabic numerals, for example: 07*/
#define _OSD_DAY (_OSD_BASE+4) /*show day time by two Arabic numerals, for example: 31*/
#define _OSD_WEEK3 (_OSD_BASE+5) /*show week time in English: MON¡«SUN*/
#define _OSD_CWEEK1 (_OSD_BASE+6) /*show week time in Chinese GB code*/
#define _OSD_HOUR24 (_OSD_BASE+7) /*show 24 hours clock: 00¡«23 */
#define _OSD_HOUR12 (_OSD_BASE+8) /*show 12 hours clock: 00¡«12*/
#define _OSD_MINUTE (_OSD_BASE+9) /*show minute time by length of 2: 00¡«59*/
#define _OSD_SECOND (_OSD_BASE+10) /*show second time by length of 2: 00¡«59*/
#define _OSD_MILISECOND (_OSD_BASE+11) /*show millisecond time by length of 3: 000~999*/
#define _OSD_APM (_OSD_BASE+14) /*show a.m. or p.m. by length of 2 bit, AM or PM*/
//For new added APIs to set OSD: SetEncoderOsdDisplayMode, SetDecoderOsdDisplayMode and SetDisplayOsdDisplayMode in v6.0 SDK, we use new basic address of special character.
#define _OSD_BASE_EX 0x90000 /*base address of special character*/
#define _OSD_YEAR4_EX (_OSD_BASE_EX+0) /*the same as _OSD_YEAR4*/
#define _OSD_YEAR2_EX (_OSD_BASE_EX+1) /*the same as _OSD_YEAR2*/
#define _OSD_MONTH3_EX (_OSD_BASE_EX+2) /*the same as _OSD_MONTH3*/
#define _OSD_MONTH2_EX (_OSD_BASE_EX+3) /*the same as _OSD_MONTH2*/
#define _OSD_DAY_EX (_OSD_BASE_EX+4) /*the same as _OSD_DAY*/
#define _OSD_WEEK3_EX (_OSD_BASE_EX+5) /*the same as _OSD_WEEK3*/
#define _OSD_CWEEK1_EX (_OSD_BASE_EX+6) /*the same as _OSD_CWEEK1*/
#define _OSD_HOUR24_EX (_OSD_BASE_EX+7) /*the same as _OSD_HOUR24*/
#define _OSD_HOUR12_EX (_OSD_BASE_EX+8) /*the same as _OSD_HOUR12*/
#define _OSD_MINUTE_EX (_OSD_BASE_EX+9) /*the same as _OSD_MINUTE*/
#define _OSD_SECOND_EX (_OSD_BASE_EX+10) /*the same as _OSD_SECOND*/
#define _OSD_MILISECOND_EX (_OSD_BASE_EX+11) /*the same as _OSD_MILISECOND*/
#define _OSD_APM_EX (_OSD_BASE_EX+14) /*the same as _OSD_APM*/
#endif

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3rdparty/hikvision/inc/DecodeCardSdk.h vendored Normal file
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///////////////////////////////////////////////////////////////////////////
// DS-40xxHC/HF BOARD SYSTEM SDK //
///////////////////////////////////////////////////////////////////////////
#ifndef DECODECARD_SDK_H
#define DECODECARD_SDK_H
#include "datatype.h"
#define DLLEXPORT_API extern "C" __declspec(dllexport)
#define ERR_WAIT_TIMEOUT 0xc0000001
#define ERR_INVALID_HANDLE 0xc0000002
#define ERR_INVALID_ARGUMENT 0xc0000003
#define ERR_DDRAW_CREATE_FAILED 0xc0000004
#define ERR_DDRAW_CAPS_FAULT 0xc0000005
#define ERR_SET_COOPERATIVELEVEL_FAILED 0xc0000006
#define ERR_PRIMARY_SURFACE_CREATE_FAILED 0xc0000007
#define ERR_GET_OVERLAY_ADDRESS_FAILED 0xc0000008
#define ERR_OVERLAY_SURFACE_CREATE_FAILED 0xc0000009
#define ERR_OVERLAY_UPDATE_FAILED 0xc000000a
#define ERR_TMMAN_FAILURE 0xc000000b
#define ERR_CHANNELMAGIC_MISMATCH 0xc000000c
#define ERR_CALLBACK_REGISTERED 0xc000000d
#define ERR_QUEUE_OVERFLOW 0xc000000e
#define ERR_STREAM_THREAD_FAILURE 0xc000000f
#define ERR_THREAD_STOP_ERROR 0xc0000010
#define ERR_NOT_SUPPORT 0xc0000011
#define ERR_OUTOF_MEMORY 0xc0000012
#define ERR_DSP_BUSY 0xc0000013
#define ERR_DATA_ERROR 0xc0000014
#define ERR_KERNEL 0xc0000016
#define ERR_OFFSCREEN_CREATE_FAILED 0xc0000017
#define ERR_MULTICLOCK_FAILURE 0xc0000018
#define ERR_INVALID_DEVICE 0xc0000019
#define ERR_INVALID_DRIVER 0xc000001a
//error code for MD card
#define HWERR_SUCCESS 0
#define HWERR_ALLOCATE_MEMORY 0xc1000001
#define HWERR_INVALID_HANDLE 0xc1000002
#define HWERR_DDRAW_CREATE_FAILED 0xc1000003
#define HWERR_DDRAW_CAPS_FAULT 0xc1000004
#define HWERR_SET_COOPERATIVELEVEL_FAILED 0xc1000005
#define HWERR_PRIMARY_SURFACE_CREATE_FAILED 0xc1000006
#define HWERR_OVERLAY_CREATE_FAILED 0xc1000007
#define HWERR_GET_OVERLAY_ADDRESS_FAILED 0xc1000008
#define HWERR_OVERLAY_UPDATE_FAILED 0xc1000009
#define HWERR_SURFACE_NULL 0xc100000a
#define HWERR_FILEHEADER_UNKNOWN 0xc100000b
#define HWERR_CREATE_FILE_FAILED 0xc100000c
#define HWERR_FILE_SIZE_ZERO 0xc100000d
#define HWERR_FILE_SIZE_INVALID 0xc100000d
#define HWERR_CREATE_OBJ_FAILED 0xc100000e
#define HWERR_CHANNELMAGIC_MISMATCH 0xc100000f
#define HWERR_PARA_OVER 0xc1000010
#define HWERR_ORDER 0xc1000011
#define HWERR_COMMAND 0xc1000012
#define HWERR_UNSUPPORTED 0xc1000013
#define HWERR_DSPOPEN 0xc1000014
#define HWERR_DSPLOAD 0xc1000015
#define HWERR_ALLOCATE_DSPMEMORY 0xc1000016
#define HWERR_DSPCHECHER 0xc1000017
#define HWERR_IMGFILE_UNKNOWN 0xc1000018
#define HWERR_INVALID_FILE 0xc1000019
//standart
#define HW_PAL 2
#define HW_NTSC 1
//jump direction
#define HW_JUMP_FORWARD 309
#define HW_JUMP_BACKWARD 310
typedef enum tagTypeVideoFormat
{
vdfRGB8A_233 = 0x00000001,
vdfRGB8R_332 = 0x00000002,
vdfRGB15Alpha = 0x00000004,
vdfRGB16 = 0x00000008,
vdfRGB24 = 0x00000010,
vdfRGB24Alpha = 0x00000020,
vdfYUV420Planar = 0x00000040,
vdfYUV422Planar = 0x00000080,
vdfYUV411Planar = 0x00000100,
vdfYUV420Interspersed = 0x00000200,
vdfYUV422Interspersed = 0x00000400,
vdfYUV411Interspersed = 0x00000800,
vdfYUV422Sequence = 0x00001000, /* U0, Y0, V0, Y1: For VO overlay */
vdfYUV422SequenceAlpha = 0x00002000,
/* U0, Y0, V0, Y1: For VO overlay, with low bit for alpha blending */
vdfMono = 0x00004000, /* 8 bit monochrome */
vdfYUV444Planar = 0x00008000,
}TypeVideoFormat;
typedef enum _BitrateControlType_t
{
brCBR = 0,
brVBR = 1,
}BitrateControlType_t;
typedef enum _BOARD_TYPE_DS
{
DS400XM =0,
DS400XH =1,
DS4004HC =2,
DS4008HC =3,
DS4016HC =4,
DS4001HF =5,
DS4004HF =6,
DS4002MD =7,
DS4004MD =8, //4004MD
DS4016HCS =9, //4016HCS
DS4002HT =10, //4002HT
DS4004HT =11, //4004HT
DS4008HT =12, //4008HT
DS4004HC_PLUS =13, //4004HC+
DS4008HC_PLUS =14, //4008HC+
DS4016HC_PLUS =15, //4016HC+
DS4008HF =16, //4008HF
DS4008MD =17, //4008MD
DS4008HS =18, //4008HS
DS4016HS =19, //4016HS
INVALID_BOARD_TYPE =0xffffffff,
}BOARD_TYPE_DS;
#define STREAM_TYPE_VIDEO 1
#define STREAM_TYPE_AUDIO 2
#define STREAM_TYPE_AVSYNC 3
#define DRAWFUN(x) void (CALLBACK* x)(long nPort,HDC hDc,LONG nUser)
typedef void (*LOGRECORD_CALLBACK)(char *str, void *context);
typedef int (*STREAM_READ_CALLBACK)(ULONG channelNumber, void *context);
typedef int (*STREAM_DIRECT_READ_CALLBACK)(ULONG channelNumber,void *DataBuf,DWORD Length,int FrameType,void *context);
typedef struct tagChannelCapability{
UCHAR bAudioPreview;
UCHAR bAlarmIO;
UCHAR bWatchDog;
}CHANNEL_CAPABILITY, *PCHANNEL_CAPABILITY;
typedef struct tagFramsStatistics{
ULONG VideoFrames;
ULONG AudioFrames;
ULONG FramesLost;
ULONG QueueOverflow;
ULONG CurBps;
}FRAMES_STATISTICS, *PFRAMES_STATISTICS;
DLLEXPORT_API int __stdcall InitDSPs();
DLLEXPORT_API int __stdcall DeInitDSPs();
DLLEXPORT_API HANDLE __stdcall ChannelOpen(int ChannelNum);
DLLEXPORT_API int __stdcall ChannelClose(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall GetTotalChannels();
DLLEXPORT_API int __stdcall GetTotalDSPs();
DLLEXPORT_API int __stdcall StartVideoPreview(HANDLE hChannelHandle,HWND WndHandle, RECT *rect, BOOLEAN bOverlay, int VideoFormat, int FrameRate);
DLLEXPORT_API int __stdcall StopVideoPreview(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall SetVideoPara(HANDLE hChannelHandle, int Brightness, int Contrast, int Saturation, int Hue);
DLLEXPORT_API int __stdcall GetVideoPara(HANDLE hChannelHandle, VideoStandard_t *VideoStandard, int *Brightness, int *Contrast, int *Saturation, int *Hue);
DLLEXPORT_API int __stdcall GetVideoSignal(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall GetSDKVersion(PVERSION_INFO VersionInfo);
DLLEXPORT_API int __stdcall GetCapability(HANDLE hChannelHandle, CHANNEL_CAPABILITY *Capability);
DLLEXPORT_API int __stdcall GetLastErrorNum(HANDLE hChannelHandle, ULONG *DspError, ULONG *SdkError);
DLLEXPORT_API int __stdcall SetStreamType(HANDLE hChannelHandle, USHORT Type);
DLLEXPORT_API int __stdcall GetStreamType(HANDLE hChannelHandle, USHORT *StreamType);
DLLEXPORT_API int __stdcall GetFramesStatistics(HANDLE hChannelHandle, PFRAMES_STATISTICS framesStatistics);
DLLEXPORT_API int __stdcall StartMotionDetection(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall GetBoardInfo(HANDLE hChannelHandle, ULONG *BoardType, UCHAR *SerialNo);
DLLEXPORT_API int __stdcall StopMotionDetection(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall GetOriginalImage(HANDLE hChannelHandle, UCHAR *ImageBuf, ULONG *Size);
DLLEXPORT_API int __stdcall RegisterLogRecordCallback(LOGRECORD_CALLBACK LogRecordFunc, void *Context);
DLLEXPORT_API int __stdcall SetAudioPreview(HANDLE hChannelHandle, BOOL bEnable);
DLLEXPORT_API int __stdcall ReadStreamData(HANDLE hChannelHandle, void *DataBuf, DWORD *Length, int *FrameType);
DLLEXPORT_API int __stdcall RegisterMessageNotifyHandle(HWND hWnd, UINT MessageId);
DLLEXPORT_API int __stdcall StartVideoCapture(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall StopVideoCapture(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall SetIBPMode(HANDLE hChannelHandle, int KeyFrameIntervals, int BFrames, int PFrames, int FrameRate);
DLLEXPORT_API int __stdcall SetDefaultQuant(HANDLE hChannelHandle, int IQuantVal, int PQuantVal, int BQuantVal);
DLLEXPORT_API int __stdcall SetOsd(HANDLE hChannelHandle, BOOL Enable);
DLLEXPORT_API int __stdcall SetLogo(HANDLE hChannelHandle, int x, int y, int w, int h, unsigned char *yuv);
DLLEXPORT_API int __stdcall StopLogo(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall SetupMotionDetection(HANDLE hChannelHandle, RECT *RectList, int iAreas);
DLLEXPORT_API int __stdcall MotionAnalyzer(HANDLE hChannelHandle, char *MotionData, int iThreshold, int *iResult);
DLLEXPORT_API int __stdcall LoadYUVFromBmpFile(char *FileName, unsigned char *yuv, int BufLen, int *Width, int *Height);
DLLEXPORT_API int __stdcall SaveYUVToBmpFile(char *FileName, unsigned char *yuv, int Width, int Height);
DLLEXPORT_API int __stdcall CaptureIFrame(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall RegisterStreamReadCallback(STREAM_READ_CALLBACK StreamReadCallback, void *Context);
DLLEXPORT_API int __stdcall AdjustMotionDetectPrecision(HANDLE hChannelHandle,
int iGrade, int iFastMotionDetectFps,
int iSlowMotionDetectFps);
DLLEXPORT_API int __stdcall SetupBitrateControl(HANDLE hChannelHandle, ULONG MaxBps);
DLLEXPORT_API int __stdcall SetOverlayColorKey(COLORREF DestColorKey);
DLLEXPORT_API int __stdcall SetOsdDisplayMode(HANDLE hChannelHandle, int Brightness, BOOL Translucent, int parameter, USHORT *Format1, USHORT *Format2);
DLLEXPORT_API int __stdcall SetLogoDisplayMode(HANDLE hChannelHandle, COLORREF ColorKey, BOOL Translucent, int TwinkleInterval);
DLLEXPORT_API int __stdcall SetEncoderPictureFormat(HANDLE hChannelHandle, PictureFormat_t PictureFormat);
DLLEXPORT_API int __stdcall SetVideoStandard(HANDLE hChannelHandle, VideoStandard_t VideoStandard);
DLLEXPORT_API int __stdcall RestoreOverlay();
DLLEXPORT_API int __stdcall ResetDSP(int DspNumber);
DLLEXPORT_API int __stdcall GetSoundLevel(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall SetBitrateControlMode(HANDLE hChannelHandle, BitrateControlType_t brc);
DLLEXPORT_API int __stdcall SetupNotifyThreshold(HANDLE hChannelHandle, int iFramesThreshold);
DLLEXPORT_API int __stdcall SetupSubChannel(HANDLE hChannelHandle, int iSubChannel);
DLLEXPORT_API int __stdcall GetSubChannelStreamType(void *DataBuf, int FrameType);
//add for HC/HF
DLLEXPORT_API int __stdcall RegisterStreamDirectReadCallback(STREAM_DIRECT_READ_CALLBACK StreamDirectReadCallback,void *Context);
DLLEXPORT_API int __stdcall RegisterDrawFun(DWORD nport, DRAWFUN(DrawFun),LONG nUser);
DLLEXPORT_API int __stdcall SetupMask(HANDLE hChannelHandle, RECT *rectList, int iAreas);
DLLEXPORT_API int __stdcall StopMask(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall SetSubEncoderPictureFormat(HANDLE hChannelHandle, PictureFormat_t PictureFormat);
DLLEXPORT_API int __stdcall StartSubVideoCapture(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall StopSubVideoCapture(HANDLE hChannelHandle);
DLLEXPORT_API int __stdcall SetupDateTime(HANDLE hChannelHandle, SYSTEMTIME *now);
/*
以下为1.7版本新增的功能。
以后可能会根据用户的反馈进行修改和完善。
*/
//原始图像流设置
typedef void (*IMAGE_STREAM_CALLBACK)(UINT channelNumber,void *context );
DLLEXPORT_API int __stdcall SetImageStream(HANDLE hChannel,BOOL bStart,UINT fps,UINT width,UINT height,unsigned char *imageBuffer);
DLLEXPORT_API int __stdcall RegisterImageStreamCallback(IMAGE_STREAM_CALLBACK,void *context);
/*
设置视频输入位置：
(x,y)为系统所处理图像的左上角在摄像机输入的原始图像中的坐标。
x必须为2的整数倍。
(x,y)坐标的参数范围和摄像机的型号有关，如果指定的值和摄像机的输入不匹配，
可能会导致图像静止或水平、垂直方向滚动。
*/
DLLEXPORT_API int __stdcall SetInputVideoPosition(HANDLE hChannel,UINT x,UINT y);
DLLEXPORT_API int __stdcall StopRegisterDrawFun(DWORD nport);
/*
3.0
*/
#define SERIAL_NUMBER_LENGTH 12 //板卡序列号长度
typedef struct tagDS_BOARD_DETAIL
{
BOARD_TYPE_DS type; //板卡类型
BYTE sn[16]; //序列号
UINT dspCount; //板卡包含的DSP个数
UINT firstDspIndex; //板卡上第一个DSP的索引
UINT encodeChannelCount; //板卡包含的编码通道个数
UINT firstEncodeChannelIndex; //板卡上第一个编码通道的索引
UINT decodeChannelCount; //板卡包含的解码通道个数
UINT firstDecodeChannelIndex; //板卡上第一个解码通道的索引
UINT displayChannelCount; //板卡包含的视频输出通道个数
UINT firstDisplayChannelIndex; //板卡上第一个视频输出通道的索引
UINT reserved1;
UINT reserved2;
UINT reserved3;
UINT reserved4;
}DS_BOARD_DETAIL;
typedef struct tagDSP_DETAIL
{
UINT encodeChannelCount; //板卡包含的编码通道个数
UINT firstEncodeChannelIndex; //板卡上第一个编码通道的索引
UINT decodeChannelCount; //板卡包含的解码通道个数
UINT firstDecodeChannelIndex; //板卡上第一个解码通道的索引
UINT displayChannelCount; //板卡包含的视频输出通道个数
UINT firstDisplayChannelIndex; //板卡上第一个视频输出通道的索引
UINT reserved1;
UINT reserved2;
UINT reserved3;
UINT reserved4;
}DSP_DETAIL;
DLLEXPORT_API unsigned int __stdcall GetBoardCount();
DLLEXPORT_API int __stdcall GetBoardDetail(UINT boardNum,DS_BOARD_DETAIL *pBoardDetail);
DLLEXPORT_API unsigned int __stdcall GetDspCount();
DLLEXPORT_API int __stdcall GetDspDetail(UINT dspNum,DSP_DETAIL *pDspDetail);
DLLEXPORT_API unsigned int __stdcall GetEncodeChannelCount();
DLLEXPORT_API unsigned int __stdcall GetDecodeChannelCount();
DLLEXPORT_API unsigned int __stdcall GetDisplayChannelCount();
DLLEXPORT_API int __stdcall SetDefaultVideoStandard(VideoStandard_t VideoStandard);
DLLEXPORT_API int __stdcall SetVideoDetectPrecision(HANDLE hChannel,unsigned int value);
DLLEXPORT_API int __stdcall SetSubStreamType(HANDLE hChannelHandle, USHORT Type);
DLLEXPORT_API int __stdcall GetSubStreamType(HANDLE hChannelHandle, USHORT *StreamType);
#define MAX_DISPLAY_REGION 16
typedef struct tagREGION_PARAM
{
UINT left;
UINT top;
UINT width;
UINT height;
COLORREF color;
UINT param;
}REGION_PARAM;
DLLEXPORT_API int __stdcall SetDisplayStandard(UINT nDisplayChannel,VideoStandard_t VideoStandard);
DLLEXPORT_API int __stdcall SetDisplayRegion(UINT nDisplayChannel,UINT nRegionCount,REGION_PARAM *pParam,UINT nReserved);
DLLEXPORT_API int __stdcall ClearDisplayRegion(UINT nDisplayChannel,UINT nRegionFlag);
DLLEXPORT_API int __stdcall SetDisplayRegionPosition(UINT nDisplayChannel,UINT nRegion,UINT nLeft,UINT nTop);
DLLEXPORT_API int __stdcall FillDisplayRegion(UINT nDisplayChannel,UINT nRegion,unsigned char *pImage);
DLLEXPORT_API int __stdcall SetEncoderVideoExtOutput(UINT nEncodeChannel,UINT nPort,BOOL bOpen,UINT nDisplayChannel,UINT nDisplayRegion,UINT nReserved);
DLLEXPORT_API int __stdcall SetDecoderVideoExtOutput(UINT nDecodeChannel,UINT nPort,BOOL bOpen,UINT nDisplayChannel,UINT nDisplayRegion,UINT nReserved);
DLLEXPORT_API int __stdcall SetDecoderVideoOutput(UINT nDecodeChannel,UINT nPort,BOOL bOpen,UINT nDisplayChannel,UINT nDisplayRegion,UINT nReserved);
DLLEXPORT_API int __stdcall SetDecoderAudioOutput(UINT nDecodeChannel,BOOL bOpen,UINT nOutputChannel);
//3.1
DLLEXPORT_API int __stdcall SetDeInterlace(HANDLE hChannelHandle,UINT mode,UINT level);
DLLEXPORT_API int __stdcall SetPreviewOverlayMode(BOOL bTrue);
//DECODE functions for DS4002MD
#if defined( _WINDLL)
#define PLAYER_API extern "C"__declspec(dllexport)
#else
#define PLAYER_API extern "C" __declspec(dllimport)
#endif
typedef struct tagDISPLAY_PARA
{
long bToScreen;
long bToVideoOut;
long nLeft;
long nTop;
long nWidth;
long nHeight;
long nReserved;
}DISPLAY_PARA,*PDISPLAY_PARA;
//Version info
typedef struct tagVERSION{
ULONG DspVersion, DspBuildNum;
ULONG DriverVersion, DriverBuildNum;
ULONG SDKVersion, SDKBuildNum;
}HW_VERSION, *PHW_VERSION;
//init part
PLAYER_API int __stdcall HW_InitDirectDraw(HWND hParent,COLORREF colorKey);
PLAYER_API int __stdcall HW_ReleaseDirectDraw();
PLAYER_API int __stdcall HW_InitDecDevice(long *pDeviceTotal);
PLAYER_API int __stdcall HW_ReleaseDecDevice();
PLAYER_API int __stdcall HW_ChannelOpen(long nChannelNum,HANDLE* phChannel);
PLAYER_API int __stdcall HW_ChannelClose(HANDLE hChannel);
//open part
PLAYER_API int __stdcall HW_OpenStream(HANDLE hChannel,PBYTE pFileHeadBuf,DWORD nSize);
DLLEXPORT_API int __stdcall HW_ResetStream(HANDLE hChannel);
PLAYER_API int __stdcall HW_CloseStream(HANDLE hChannel);
PLAYER_API int __stdcall HW_InputData(HANDLE hChannel,PBYTE pBuf,DWORD nSize);
PLAYER_API int __stdcall HW_OpenFile(HANDLE hChannel,LPTSTR sFileName);
PLAYER_API int __stdcall HW_CloseFile(HANDLE hChannel);
//play part
PLAYER_API int __stdcall HW_SetDisplayPara(HANDLE hChannel,DISPLAY_PARA *pPara);
PLAYER_API int __stdcall HW_Play(HANDLE hChannel);
PLAYER_API int __stdcall HW_Stop(HANDLE hChannel);
PLAYER_API int __stdcall HW_Pause(HANDLE hChannel,ULONG bPause);
//sound part
PLAYER_API int __stdcall HW_PlaySound(HANDLE hChannel);
PLAYER_API int __stdcall HW_StopSound(HANDLE hChannel);
PLAYER_API int __stdcall HW_SetVolume(HANDLE hChannel,ULONG nVolume);
//overlay part
PLAYER_API int __stdcall HW_RefreshSurface();
PLAYER_API int __stdcall HW_RestoreSurface();
PLAYER_API int __stdcall HW_ClearSurface();
PLAYER_API int __stdcall HW_ZoomOverlay(RECT* pSrcClientRect, RECT* pDecScreenRect);
//cut file
PLAYER_API int __stdcall HW_StartCapFile(HANDLE hChannel,LPTSTR sFileName);
PLAYER_API int __stdcall HW_StopCapFile(HANDLE hChannel);
//capture picture
PLAYER_API int __stdcall HW_GetYV12Image(HANDLE hChannel, PBYTE pBuffer, ULONG nSize);
PLAYER_API int __stdcall HW_GetPictureSize(HANDLE hChannel,ULONG* pWidth, ULONG* pHeight);
PLAYER_API int __stdcall HW_ConvertToBmpFile(BYTE * pBuf,ULONG nSize,ULONG nWidth,ULONG nHeight,char *sFileName,ULONG nReserved);
//setting and getting part
PLAYER_API int __stdcall HW_Jump(HANDLE hChannel,ULONG nDirection);
PLAYER_API int __stdcall HW_SetJumpInterval(HANDLE hChannel,ULONG nSecond);
PLAYER_API int __stdcall HW_GetSpeed(HANDLE hChannel,long *pSpeed);
PLAYER_API int __stdcall HW_SetSpeed(HANDLE hChannel,long nSpeed);
PLAYER_API int __stdcall HW_SetPlayPos(HANDLE hChannel,ULONG nPos);
PLAYER_API int __stdcall HW_GetPlayPos(HANDLE hChannel,ULONG* pPos);
PLAYER_API int __stdcall HW_GetVersion(PHW_VERSION pVersion);
PLAYER_API int __stdcall HW_GetCurrentFrameRate(HANDLE hChannel,ULONG* pFrameRate);
PLAYER_API int __stdcall HW_GetCurrentFrameNum(HANDLE hChannel,ULONG* pFrameNum);
PLAYER_API int __stdcall HW_GetFileTotalFrames(HANDLE hChannel,ULONG* pTotalFrames);
PLAYER_API int __stdcall HW_GetFileTime(HANDLE hChannel, ULONG* pFileTime);
PLAYER_API int __stdcall HW_GetCurrentFrameTime(HANDLE hChannel,ULONG* pFrameTime);
PLAYER_API int __stdcall HW_GetPlayedFrames(HANDLE hChannel,ULONG *pDecVFrames);
PLAYER_API int __stdcall HW_GetDeviceSerialNo(HANDLE hChannel,ULONG *pDeviceSerialNo);
PLAYER_API int __stdcall HW_SetFileEndMsg(HANDLE hChannel,HWND hWnd,UINT nMsg);
PLAYER_API int __stdcall HW_SetStreamOpenMode(HANDLE hChannel,ULONG nMode);
PLAYER_API int __stdcall HW_GetStreamOpenMode(HANDLE hChannel,ULONG *pMode);
PLAYER_API int __stdcall HW_SetVideoOutStandard(HANDLE hChannel,ULONG nStandard);
PLAYER_API int __stdcall HW_SetDspDeadlockMsg(HWND hWnd,UINT nMsg);
PLAYER_API int __stdcall HW_GetChannelNum(long nDspNum,long *pChannelNum,ULONG nNumsToGet,ULONG * pNumsGotten);
PLAYER_API int __stdcall HW_ResetDsp(long nDspNum);
PLAYER_API int __stdcall HW_SetAudioPreview(HANDLE hChannel, BOOL bEnable);
//////////////////////////////////////////////
PLAYER_API int __stdcall HW_OpenStreamEx(HANDLE hChannel,PBYTE pFileHeadBuf,DWORD nSize);
PLAYER_API int __stdcall HW_CloseStreamEx(HANDLE hChannel);
PLAYER_API int __stdcall HW_InputVideoData(HANDLE hChannel,PBYTE pBuf,DWORD nSize);
PLAYER_API int __stdcall HW_InputAudioData(HANDLE hChannel,PBYTE pBuf,DWORD nSize);
//4.0
PLAYER_API int __stdcall SetOsdDisplayModeEx(HANDLE hChannelHandle,int color,BOOL Translucent,int param,int nLineCount,USHORT **Format);
typedef void (*MOTION_DETECTION_CALLBACK)(ULONG channelNumber,BOOL bMotionDetected,void *context);
PLAYER_API int __stdcall SetupMotionDetectionEx(HANDLE hChannelHandle,int iGrade,int iFastMotionDetectFps,
int iSlowMotionDetectFps,UINT delay,RECT *RectList, int iAreas,
MOTION_DETECTION_CALLBACK MotionDetectionCallback,int reserved);
PLAYER_API int __stdcall GetJpegImage(HANDLE hChannelHandle,UCHAR *ImageBuf,ULONG *Size,UINT nQuality);
//WatchDog
PLAYER_API int __stdcall SetWatchDog(UINT boardNumber,BOOL bEnable);
//4.1
typedef void (*FILE_REF_DONE_CALLBACK)(UINT nChannel,UINT nSize);
PLAYER_API int __stdcall HW_SetFileRef(HANDLE hChannel,BOOL bEnable,FILE_REF_DONE_CALLBACK FileRefDoneCallback);
PLAYER_API int __stdcall HW_LocateByAbsoluteTime(HANDLE hChannel,SYSTEMTIME time);
PLAYER_API int __stdcall HW_LocateByFrameNumber(HANDLE hChannel,UINT frmNum);
PLAYER_API int __stdcall HW_GetCurrentAbsoluteTime(HANDLE hChannel,SYSTEMTIME *pTime);
PLAYER_API int __stdcall HW_GetFileAbsoluteTime(HANDLE hChannel,SYSTEMTIME *pStartTime,SYSTEMTIME *pEndTime);
//4.2
DLLEXPORT_API int __stdcall HW_ImportFileRef(HANDLE hChannel,char *pBuffer,UINT nSize);
DLLEXPORT_API int __stdcall HW_ExportFileRef(HANDLE hChannel,char *pBuffer,UINT nSize);
DLLEXPORT_API int __stdcall SetDisplayVideoCapture(UINT nDisplayChannel,BOOL bStart,UINT fps,UINT width,UINT height,unsigned char *imageBuffer);
DLLEXPORT_API int __stdcall RegisterDisplayVideoCaptureCallback(IMAGE_STREAM_CALLBACK DisplayVideoCaptureCallback,void *context);
DLLEXPORT_API int __stdcall SetDisplayVideoBrightness(UINT chan,int Brightness);
DLLEXPORT_API int __stdcall SetChannelStreamCRC(HANDLE hChannel,BOOL bEnable);
DLLEXPORT_API int __stdcall SetSubChannelStreamCRC(HANDLE hChannel,BOOL bEnable);
DLLEXPORT_API int __stdcall HW_SetDecoderPostProcess(HANDLE hChannel,UINT param);
//
typedef void (*DECODER_VIDEO_CAPTURE_CALLBACK)(UINT nChannelNumber,void *DataBuf,UINT width,UINT height,UINT nFrameNum,UINT nFrameTime,SYSTEMTIME *pFrameAbsoluteTime,void *context);
DLLEXPORT_API int __stdcall RegisterDecoderVideoCaptureCallback(DECODER_VIDEO_CAPTURE_CALLBACK DecoderVideoCaptureCallback,void *context);
DLLEXPORT_API int __stdcall HW_SetDecoderVideoCapture(HANDLE hChannel,BOOL bStart,UINT param);
DLLEXPORT_API int __stdcall HW_InputDataByFrame(HANDLE hChannel,PBYTE pBuf,DWORD nSize);
/*
人脸抓拍接口:仅供测试、评估，以后可能会做修改。
*/
typedef struct
{
short x,y,width,height;
}FACE_AREA_DEMO;
typedef struct
{
FACE_AREA_DEMO faceArea;
FACE_AREA_DEMO leftEyeArea;
FACE_AREA_DEMO rightEyeArea;
FACE_AREA_DEMO leftPupilArea;
FACE_AREA_DEMO rightPupilArea;
FACE_AREA_DEMO noseArea;
FACE_AREA_DEMO mouthArea;
}FACE_INFO_DEMO;
typedef void (*FACE_DETECTION_DEMO_CALLBACK)(UINT nChannel,UINT nFaceCount,FACE_INFO_DEMO *pFaceInfo,
char *pData,UINT nDataSize,UINT nImageWidth,UINT nImageHeight);
DLLEXPORT_API int __stdcall SetFaceDetectionDemo(HANDLE hChannelHandle,BOOL bEnable,
UINT nFrameInterval,FACE_DETECTION_DEMO_CALLBACK pFunc,
BOOL bCompress,UINT nCompressQuality,BOOL bLocateEyePos);
#endif

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#ifndef _PLAYM4_H_
#define _PLAYM4_H_
#if defined( _WINDLL)
#define PLAYM4_API extern "C" __declspec(dllexport)
#else
#define PLAYM4_API extern "C" __declspec(dllimport)
#endif
//Max channel numbers
#define PLAYM4_MAX_SUPPORTS 500
//Wave coef range;
#define MIN_WAVE_COEF -100
#define MAX_WAVE_COEF 100
//Timer type
#define TIMER_1 1 //Only 16 timers for every process.Default TIMER;
#define TIMER_2 2 //Not limit;But the precision less than TIMER_1;
//BUFFER AND DATA TYPE
#define BUF_VIDEO_SRC (1) //mixed input,total src buffer size;splited input,video src buffer size
#define BUF_AUDIO_SRC (2) //mixed input,not defined;splited input,audio src buffer size
#define BUF_VIDEO_RENDER (3) //video render node count
#define BUF_AUDIO_RENDER (4) //audio render node count
#define BUF_VIDEO_DECODED (5) //video decoded node count to render
#define BUF_AUDIO_DECODED (6) //audio decoded node count to render
#define BUF_DISPLAY_NODE (7) //display node
//Error code
#define PLAYM4_NOERROR 0 //no error
#define PLAYM4_PARA_OVER 1 //input parameter is invalid;
#define PLAYM4_ORDER_ERROR 2 //The order of the function to be called is error.
#define PLAYM4_TIMER_ERROR 3 //Create multimedia clock failed;
#define PLAYM4_DEC_VIDEO_ERROR 4 //Decode video data failed.
#define PLAYM4_DEC_AUDIO_ERROR 5 //Decode audio data failed.
#define PLAYM4_ALLOC_MEMORY_ERROR 6 //Allocate memory failed.
#define PLAYM4_OPEN_FILE_ERROR 7 //Open the file failed.
#define PLAYM4_CREATE_OBJ_ERROR 8 //Create thread or event failed
#define PLAYM4_CREATE_DDRAW_ERROR 9 //Create DirectDraw object failed.
#define PLAYM4_CREATE_OFFSCREEN_ERROR 10 //failed when creating off-screen surface.
#define PLAYM4_BUF_OVER 11 //buffer is overflow
#define PLAYM4_CREATE_SOUND_ERROR 12 //failed when creating audio device.
#define PLAYM4_SET_VOLUME_ERROR 13 //Set volume failed
#define PLAYM4_SUPPORT_FILE_ONLY 14 //The function only support play file.
#define PLAYM4_SUPPORT_STREAM_ONLY 15 //The function only support play stream.
#define PLAYM4_SYS_NOT_SUPPORT 16 //System not support.
#define PLAYM4_FILEHEADER_UNKNOWN 17 //No file header.
#define PLAYM4_VERSION_INCORRECT 18 //The version of decoder and encoder is not adapted.
#define PLAYM4_INIT_DECODER_ERROR 19 //Initialize decoder failed.
#define PLAYM4_CHECK_FILE_ERROR 20 //The file data is unknown.
#define PLAYM4_INIT_TIMER_ERROR 21 //Initialize multimedia clock failed.
#define PLAYM4_BLT_ERROR 22 //Blt failed.
#define PLAYM4_UPDATE_ERROR 23 //Update failed.
#define PLAYM4_OPEN_FILE_ERROR_MULTI 24 //openfile error, streamtype is multi
#define PLAYM4_OPEN_FILE_ERROR_VIDEO 25 //openfile error, streamtype is video
#define PLAYM4_JPEG_COMPRESS_ERROR 26 //JPEG compress error
#define PLAYM4_EXTRACT_NOT_SUPPORT 27 //Don't support the version of this file.
#define PLAYM4_EXTRACT_DATA_ERROR 28 //extract video data failed.
#define PLAYM4_SECRET_KEY_ERROR 29 //Secret key is error //add 20071218
#define PLAYM4_DECODE_KEYFRAME_ERROR 30 //add by hy 20090318
#define PLAYM4_NEED_MORE_DATA 31 //add by hy 20100617
#define PLAYM4_INVALID_PORT 32 //add by cj 20100913
#define PLAYM4_NOT_FIND 33 //add by cj 20110428
#define PLAYM4_NEED_LARGER_BUFFER 34 //add by pzj 20130528
#define PLAYM4_FAIL_UNKNOWN 99 //Fail, but the reason is unknown;
//鱼眼功能错误码
#define PLAYM4_FEC_ERR_ENABLEFAIL 100 // 鱼眼模块加载失败
#define PLAYM4_FEC_ERR_NOTENABLE 101 // 鱼眼模块没有加载
#define PLAYM4_FEC_ERR_NOSUBPORT 102 // 子端口没有分配
#define PLAYM4_FEC_ERR_PARAMNOTINIT 103 // 没有初始化对应端口的参数
#define PLAYM4_FEC_ERR_SUBPORTOVER 104 // 子端口已经用完
#define PLAYM4_FEC_ERR_EFFECTNOTSUPPORT 105 // 该安装方式下这种效果不支持
#define PLAYM4_FEC_ERR_INVALIDWND 106 // 非法的窗口
#define PLAYM4_FEC_ERR_PTZOVERFLOW 107 // PTZ位置越界
#define PLAYM4_FEC_ERR_RADIUSINVALID 108 // 圆心参数非法
#define PLAYM4_FEC_ERR_UPDATENOTSUPPORT 109 // 指定的安装方式和矫正效果，该参数更新不支持
#define PLAYM4_FEC_ERR_NOPLAYPORT 110 // 播放库端口没有启用
#define PLAYM4_FEC_ERR_PARAMVALID 111 // 参数为空
#define PLAYM4_FEC_ERR_INVALIDPORT 112 // 非法子端口
#define PLAYM4_FEC_ERR_PTZZOOMOVER 113 // PTZ矫正范围越界
#define PLAYM4_FEC_ERR_OVERMAXPORT 114 // 矫正通道饱和，最大支持的矫正通道为四个
#define PLAYM4_FEC_ERR_ENABLED 115 //该端口已经启用了鱼眼模块
#define PLAYM4_FEC_ERR_D3DACCENOTENABLE 116 // D3D加速没有开启
//Max display regions.
#define MAX_DISPLAY_WND 4
//Display type
#define DISPLAY_NORMAL 0x00000001
#define DISPLAY_QUARTER 0x00000002
#define DISPLAY_YC_SCALE 0x00000004 //add by gb 20091116
#define DISPLAY_NOTEARING 0x00000008
//Display buffers
#define MAX_DIS_FRAMES 50
#define MIN_DIS_FRAMES 1
//Locate by
#define BY_FRAMENUM 1
#define BY_FRAMETIME 2
//Source buffer
#define SOURCE_BUF_MAX 1024*100000
#define SOURCE_BUF_MIN 1024*50
//Stream type
#define STREAME_REALTIME 0
#define STREAME_FILE 1
//frame type
#define T_AUDIO16 101
#define T_AUDIO8 100
#define T_UYVY 1
#define T_YV12 3
#define T_RGB32 7
//capability
#define SUPPORT_DDRAW 1
#define SUPPORT_BLT 2
#define SUPPORT_BLTFOURCC 4
#define SUPPORT_BLTSHRINKX 8
#define SUPPORT_BLTSHRINKY 16
#define SUPPORT_BLTSTRETCHX 32
#define SUPPORT_BLTSTRETCHY 64
#define SUPPORT_SSE 128
#define SUPPORT_MMX 256
// 以下宏定义用于HIK_MEDIAINFO结构
#define FOURCC_HKMI 0x484B4D49 // "HKMI" HIK_MEDIAINFO结构标记
// 系统封装格式
#define SYSTEM_NULL 0x0 // 没有系统层，纯音频流或视频流
#define SYSTEM_HIK 0x1 // 海康文件层
#define SYSTEM_MPEG2_PS 0x2 // PS封装
#define SYSTEM_MPEG2_TS 0x3 // TS封装
#define SYSTEM_RTP 0x4 // rtp封装
#define SYSTEM_RTPHIK 0x401 // rtp封装
// 视频编码类型
#define VIDEO_NULL 0x0 // 没有视频
#define VIDEO_H264 0x1 // 海康H.264
#define VIDEO_MPEG4 0x3 // 标准MPEG4
#define VIDEO_MJPEG 0x4
#define VIDEO_AVC264 0x0100
// 音频编码类型
#define AUDIO_NULL 0x0000 // 没有音频
#define AUDIO_ADPCM 0x1000 // ADPCM
#define AUDIO_MPEG 0x2000 // MPEG 系列音频，解码器能自适应各种MPEG音频
#define AUDIO_AAC 0X2001 // AAC 编码
// G系列音频
#define AUDIO_RAW_DATA8 0x7000 //采样率为8k的原始数据
#define AUDIO_RAW_UDATA16 0x7001 //采样率为16k的原始数据，即L16
#define AUDIO_G711_U 0x7110
#define AUDIO_G711_A 0x7111
#define AUDIO_G722_1 0x7221
#define AUDIO_G723_1 0x7231
#define AUDIO_G726_U 0x7260
#define AUDIO_G726_A 0x7261
#define AUDIO_G726_16 0x7262
#define AUDIO_G729 0x7290
#define AUDIO_AMR_NB 0x3000
#define SYNCDATA_VEH 1 //同步数据:车载信息
#define SYNCDATA_IVS 2 //同步数据:智能信息
//motion flow type
#define MOTION_FLOW_NONE 0
#define MOTION_FLOW_CPU 1
#define MOTION_FLOW_GPU 2
//音视频加密类型
#define ENCRYPT_AES_3R_VIDEO 1
#define ENCRYPT_AES_10R_VIDEO 2
#define ENCRYPT_AES_3R_AUDIO 1
#define ENCRYPT_AES_10R_AUDIO 2
//Frame position
typedef struct{
long nFilePos;
long nFrameNum;
long nFrameTime;
long nErrorFrameNum;
SYSTEMTIME *pErrorTime;
long nErrorLostFrameNum;
long nErrorFrameSize;
}FRAME_POS,*PFRAME_POS;
//Frame Info
typedef struct{
long nWidth;
long nHeight;
long nStamp;
long nType;
long nFrameRate;
DWORD dwFrameNum;
}FRAME_INFO;
typedef struct
{
long nPort; //通道号
char *pBuf; //返回的第一路图像数据指针
unsigned int nBufLen; //返回的第一路图像数据大小
char *pBuf1; //返回的第二路图像数据指针
unsigned int nBufLen1; //返回的第二路图像数据大小
char *pBuf2; //返回的第三路图像数据指针
unsigned int nBufLen2; //返回的第三路图像数据大小
unsigned int nWidth; //画面宽
unsigned int nHeight; //画面高
unsigned int nStamp; //时标信息，单位毫秒
unsigned int nType; //数据类型
void *pUser; //用户数据
unsigned int reserved[4]; //保留
}DISPLAY_INFO_YUV;
//Frame
typedef struct{
char *pDataBuf;
long nSize;
long nFrameNum;
BOOL bIsAudio;
long nReserved;
}FRAME_TYPE;
//Watermark Info //add by gb 080119
typedef struct{
char *pDataBuf;
long nSize;
long nFrameNum;
BOOL bRsaRight;
long nReserved;
}WATERMARK_INFO;
typedef struct SYNCDATA_INFO
{
DWORD dwDataType; //和码流数据同步的附属信息类型，目前有：智能信息，车载信息
DWORD dwDataLen; //附属信息数据长度
BYTE* pData; //指向附属信息数据结构的指针,比如IVS_INFO结构
} SYNCDATA_INFO;
#ifndef _HIK_MEDIAINFO_FLAG_
#define _HIK_MEDIAINFO_FLAG_
typedef struct _HIK_MEDIAINFO_ // modified by gb 080425
{
unsigned int media_fourcc; // "HKMI": 0x484B4D49 Hikvision Media Information
unsigned short media_version; // 版本号：指本信息结构版本号，目前为0x0101,即1.01版本，01：主版本号；01：子版本号。
unsigned short device_id; // 设备ID，便于跟随/分析
unsigned short system_format; // 系统封装层
unsigned short video_format; // 视频编码类型
unsigned short audio_format; // 音频编码类型
unsigned char audio_channels; // 通道数
unsigned char audio_bits_per_sample; // 样位率
unsigned int audio_samplesrate; // 采样率
unsigned int audio_bitrate; // 压缩音频码率,单位：bit
unsigned int reserved[4]; // 保留
}HIK_MEDIAINFO;
#endif
typedef struct
{
long nPort;
char * pBuf;
long nBufLen;
long nWidth;
long nHeight;
long nStamp;
long nType;
long nUser;
}DISPLAY_INFO;
typedef struct
{
long nPort;
char *pVideoBuf;
long nVideoBufLen;
char *pPriBuf;
long nPriBufLen;
long nWidth;
long nHeight;
long nStamp;
long nType;
long nUser;
}DISPLAY_INFOEX;
typedef struct PLAYM4_SYSTEM_TIME //绝对时间
{
DWORD dwYear; //年
DWORD dwMon; //月
DWORD dwDay; //日
DWORD dwHour; //时
DWORD dwMin; //分
DWORD dwSec; //秒
DWORD dwMs; //毫秒
} PLAYM4_SYSTEM_TIME;
//ENCRYPT Info
typedef struct{
long nVideoEncryptType; //视频加密类型
long nAudioEncryptType; //音频加密类型
long nSetSecretKey; //是否设置，1表示设置密钥，0表示没有设置密钥
}ENCRYPT_INFO;
//////////////////////////////////////////////////////////////////////////////
//API
//////////////////////////////////////////////////////////////////////////////
////////////////ver 1.0///////////////////////////////////////
//Initialize DirecDraw.Now invalid.
PLAYM4_API BOOL __stdcall PlayM4_InitDDraw(HWND hWnd);
//Release directDraw; Now invalid.
PLAYM4_API BOOL __stdcall PlayM4_RealeseDDraw();
PLAYM4_API BOOL __stdcall PlayM4_OpenFile(LONG nPort,LPSTR sFileName);
PLAYM4_API BOOL __stdcall PlayM4_CloseFile(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_Play(LONG nPort, HWND hWnd);
PLAYM4_API BOOL __stdcall PlayM4_Stop(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_Pause(LONG nPort,DWORD nPause);
PLAYM4_API BOOL __stdcall PlayM4_Fast(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_Slow(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_OneByOne(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_SetPlayPos(LONG nPort,float fRelativePos);
PLAYM4_API float __stdcall PlayM4_GetPlayPos(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_SetFileEndMsg(LONG nPort,HWND hWnd,UINT nMsg);
PLAYM4_API BOOL __stdcall PlayM4_SetVolume(LONG nPort,WORD nVolume);
PLAYM4_API BOOL __stdcall PlayM4_StopSound();
PLAYM4_API BOOL __stdcall PlayM4_PlaySound(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_OpenStream(LONG nPort,PBYTE pFileHeadBuf,DWORD nSize,DWORD nBufPoolSize);
PLAYM4_API BOOL __stdcall PlayM4_InputData(LONG nPort,PBYTE pBuf,DWORD nSize);
PLAYM4_API BOOL __stdcall PlayM4_CloseStream(LONG nPort);
PLAYM4_API int __stdcall PlayM4_GetCaps();
PLAYM4_API DWORD __stdcall PlayM4_GetFileTime(LONG nPort);
PLAYM4_API DWORD __stdcall PlayM4_GetPlayedTime(LONG nPort);
PLAYM4_API DWORD __stdcall PlayM4_GetPlayedFrames(LONG nPort);
//23
////////////////ver 2.0 added///////////////////////////////////////
PLAYM4_API BOOL __stdcall PlayM4_SetDecCallBack(LONG nPort,void (CALLBACK* DecCBFun)(long nPort,char * pBuf,long nSize,FRAME_INFO * pFrameInfo, long nReserved1,long nReserved2));
PLAYM4_API BOOL __stdcall PlayM4_SetDisplayCallBackYUV(LONG nPort, void (CALLBACK* DisplayCBFun)(DISPLAY_INFO_YUV *pstDisplayInfo), BOOL bTrue, void* pUser);
PLAYM4_API BOOL __stdcall PlayM4_SetDisplayCallBack(LONG nPort,void (CALLBACK* DisplayCBFun)(long nPort,char * pBuf,long nSize,long nWidth,long nHeight,long nStamp,long nType,long nReserved));
PLAYM4_API BOOL __stdcall PlayM4_ConvertToBmpFile(char * pBuf,long nSize,long nWidth,long nHeight,long nType,char *sFileName);
PLAYM4_API DWORD __stdcall PlayM4_GetFileTotalFrames(LONG nPort);
PLAYM4_API DWORD __stdcall PlayM4_GetCurrentFrameRate(LONG nPort);
PLAYM4_API DWORD __stdcall PlayM4_GetPlayedTimeEx(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_SetPlayedTimeEx(LONG nPort,DWORD nTime);
PLAYM4_API DWORD __stdcall PlayM4_GetCurrentFrameNum(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_SetStreamOpenMode(LONG nPort,DWORD nMode);
PLAYM4_API DWORD __stdcall PlayM4_GetFileHeadLength();
PLAYM4_API DWORD __stdcall PlayM4_GetSdkVersion();
//11
////////////////ver 2.2 added///////////////////////////////////////
PLAYM4_API DWORD __stdcall PlayM4_GetLastError(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_RefreshPlay(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_SetOverlayMode(LONG nPort,BOOL bOverlay,COLORREF colorKey);
PLAYM4_API BOOL __stdcall PlayM4_GetPictureSize(LONG nPort,LONG *pWidth,LONG *pHeight);
PLAYM4_API BOOL __stdcall PlayM4_SetPicQuality(LONG nPort,BOOL bHighQuality);
PLAYM4_API BOOL __stdcall PlayM4_PlaySoundShare(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_StopSoundShare(LONG nPort);
//7
////////////////ver 2.4 added///////////////////////////////////////
PLAYM4_API LONG __stdcall PlayM4_GetStreamOpenMode(LONG nPort);
PLAYM4_API LONG __stdcall PlayM4_GetOverlayMode(LONG nPort);
PLAYM4_API COLORREF __stdcall PlayM4_GetColorKey(LONG nPort);
PLAYM4_API WORD __stdcall PlayM4_GetVolume(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_GetPictureQuality(LONG nPort,BOOL *bHighQuality);
PLAYM4_API DWORD __stdcall PlayM4_GetSourceBufferRemain(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_ResetSourceBuffer(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_SetSourceBufCallBack(LONG nPort,DWORD nThreShold,void (CALLBACK * SourceBufCallBack)(long nPort,DWORD nBufSize,DWORD dwUser,void*pResvered),DWORD dwUser,void *pReserved);
PLAYM4_API BOOL __stdcall PlayM4_ResetSourceBufFlag(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_SetDisplayBuf(LONG nPort,DWORD nNum);
PLAYM4_API DWORD __stdcall PlayM4_GetDisplayBuf(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_OneByOneBack(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_SetFileRefCallBack(LONG nPort, void (__stdcall *pFileRefDone)(DWORD nPort,DWORD nUser),DWORD nUser);
PLAYM4_API BOOL __stdcall PlayM4_SetCurrentFrameNum(LONG nPort,DWORD nFrameNum);
PLAYM4_API BOOL __stdcall PlayM4_GetKeyFramePos(LONG nPort,DWORD nValue, DWORD nType, PFRAME_POS pFramePos);
PLAYM4_API BOOL __stdcall PlayM4_GetNextKeyFramePos(LONG nPort,DWORD nValue, DWORD nType, PFRAME_POS pFramePos);
#if (WINVER >= 0x0400)
//Note: These funtion must be builded under win2000 or above with Microsoft Platform sdk.
// You can download the sdk from "http://www.microsoft.com/msdownload/platformsdk/sdkupdate/";
PLAYM4_API BOOL __stdcall PlayM4_InitDDrawDevice();
PLAYM4_API void __stdcall PlayM4_ReleaseDDrawDevice();
PLAYM4_API DWORD __stdcall PlayM4_GetDDrawDeviceTotalNums();
PLAYM4_API BOOL __stdcall PlayM4_SetDDrawDevice(LONG nPort,DWORD nDeviceNum);
//PLAYM4_API BOOL __stdcall PlayM4_GetDDrawDeviceInfo(DWORD nDeviceNum,LPSTR lpDriverDescription,DWORD nDespLen,LPSTR lpDriverName ,DWORD nNameLen,HMONITOR *hhMonitor);
PLAYM4_API int __stdcall PlayM4_GetCapsEx(DWORD nDDrawDeviceNum);
#endif
PLAYM4_API BOOL __stdcall PlayM4_ThrowBFrameNum(LONG nPort,DWORD nNum);
//23
////////////////ver 2.5 added///////////////////////////////////////
PLAYM4_API BOOL __stdcall PlayM4_SetDisplayType(LONG nPort,LONG nType);
PLAYM4_API long __stdcall PlayM4_GetDisplayType(LONG nPort);
//2
////////////////ver 3.0 added///////////////////////////////////////
PLAYM4_API BOOL __stdcall PlayM4_SetDecCBStream(LONG nPort,DWORD nStream);
PLAYM4_API BOOL __stdcall PlayM4_SetDisplayRegion(LONG nPort,DWORD nRegionNum, RECT *pSrcRect, HWND hDestWnd, BOOL bEnable);
PLAYM4_API BOOL __stdcall PlayM4_RefreshPlayEx(LONG nPort,DWORD nRegionNum);
#if (WINVER >= 0x0400)
//Note: The funtion must be builded under win2000 or above with Microsoft Platform sdk.
// You can download the sdk from http://www.microsoft.com/msdownload/platformsdk/sdkupdate/;
PLAYM4_API BOOL __stdcall PlayM4_SetDDrawDeviceEx(LONG nPort,DWORD nRegionNum,DWORD nDeviceNum);
#endif
//4
/////////////////v3.2 added/////////////////////////////////////////
PLAYM4_API BOOL __stdcall PlayM4_GetRefValue(LONG nPort,BYTE *pBuffer, DWORD *pSize);
PLAYM4_API BOOL __stdcall PlayM4_SetRefValue(LONG nPort,BYTE *pBuffer, DWORD nSize);
PLAYM4_API BOOL __stdcall PlayM4_OpenStreamEx(LONG nPort,PBYTE pFileHeadBuf,DWORD nSize,DWORD nBufPoolSize);
PLAYM4_API BOOL __stdcall PlayM4_CloseStreamEx(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_InputVideoData(LONG nPort,PBYTE pBuf,DWORD nSize);
PLAYM4_API BOOL __stdcall PlayM4_InputAudioData(LONG nPort,PBYTE pBuf,DWORD nSize);
PLAYM4_API BOOL __stdcall PlayM4_RegisterDrawFun(LONG nPort,void (CALLBACK* DrawFun)(long nPort,HDC hDc,LONG nUser),LONG nUser);
PLAYM4_API BOOL __stdcall PlayM4_RigisterDrawFun(LONG nPort,void (CALLBACK* DrawFun)(long nPort,HDC hDc,LONG nUser),LONG nUser);
//8
//////////////////v3.4/////////////////////////////////////////////////////
PLAYM4_API BOOL __stdcall PlayM4_SetTimerType(LONG nPort,DWORD nTimerType,DWORD nReserved);
PLAYM4_API BOOL __stdcall PlayM4_GetTimerType(LONG nPort,DWORD *pTimerType,DWORD *pReserved);
PLAYM4_API BOOL __stdcall PlayM4_ResetBuffer(LONG nPort,DWORD nBufType);
PLAYM4_API DWORD __stdcall PlayM4_GetBufferValue(LONG nPort,DWORD nBufType);
//////////////////V3.6/////////////////////////////////////////////////////////
PLAYM4_API BOOL __stdcall PlayM4_AdjustWaveAudio(LONG nPort,LONG nCoefficient);
PLAYM4_API BOOL __stdcall PlayM4_SetVerifyCallBack(LONG nPort, DWORD nBeginTime, DWORD nEndTime, void (__stdcall * funVerify)(long nPort, FRAME_POS * pFilePos, DWORD bIsVideo, DWORD nUser), DWORD nUser);
PLAYM4_API BOOL __stdcall PlayM4_SetAudioCallBack(LONG nPort, void (__stdcall * funAudio)(long nPort, char * pAudioBuf, long nSize, long nStamp, long nType, long nUser), long nUser);
PLAYM4_API BOOL __stdcall PlayM4_SetEncTypeChangeCallBack(LONG nPort,void(CALLBACK *funEncChange)(long nPort,long nUser),long nUser);
PLAYM4_API BOOL __stdcall PlayM4_SetColor(LONG nPort, DWORD nRegionNum, int nBrightness, int nContrast, int nSaturation, int nHue);
PLAYM4_API BOOL __stdcall PlayM4_GetColor(LONG nPort, DWORD nRegionNum, int *pBrightness, int *pContrast, int *pSaturation, int *pHue);
PLAYM4_API BOOL __stdcall PlayM4_SetEncChangeMsg(LONG nPort,HWND hWnd,UINT nMsg);
PLAYM4_API BOOL __stdcall PlayM4_GetOriginalFrameCallBack(LONG nPort, BOOL bIsChange,BOOL bNormalSpeed,long nStartFrameNum,long nStartStamp,long nFileHeader,void(CALLBACK *funGetOrignalFrame)(long nPort,FRAME_TYPE *frameType, long nUser),long nUser);
PLAYM4_API BOOL __stdcall PlayM4_GetFileSpecialAttr(LONG nPort, DWORD *pTimeStamp,DWORD *pFileNum ,DWORD *pReserved);
PLAYM4_API DWORD __stdcall PlayM4_GetSpecialData(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_SetCheckWatermarkCallBack(LONG nPort,void(CALLBACK* funCheckWatermark)(long nPort,WATERMARK_INFO* pWatermarkInfo,DWORD nUser),DWORD nUser);
PLAYM4_API BOOL __stdcall PlayM4_SetImageSharpen(LONG nPort,DWORD nLevel);
PLAYM4_API BOOL __stdcall PlayM4_SetDecodeFrameType(LONG nPort,DWORD nFrameType);
PLAYM4_API BOOL __stdcall PlayM4_SetPlayMode(LONG nPort,BOOL bNormal);
PLAYM4_API BOOL __stdcall PlayM4_SetOverlayFlipMode(LONG nPort,BOOL bTrue);
PLAYM4_API BOOL __stdcall PlayM4_SetOverlayPriInfoFlag(LONG nPort, DWORD nIntelType, BOOL bTrue,const char *pFontPath);
//PLAYM4_API DWORD __stdcall PlayM4_GetAbsFrameNum(LONG nPort);
//////////////////V4.7.0.0//////////////////////////////////////////////////////
////convert yuv to jpeg
PLAYM4_API BOOL __stdcall PlayM4_ConvertToJpegFile(char * pBuf,long nSize,long nWidth,long nHeight,long nType,char *sFileName);
PLAYM4_API BOOL __stdcall PlayM4_SetJpegQuality(long nQuality);
//set deflash
PLAYM4_API BOOL __stdcall PlayM4_SetDeflash(LONG nPort,BOOL bDefalsh);
//PLAYM4_API BOOL __stdcall PlayM4_SetDecCallBackEx(LONG nPort,void (CALLBACK* DecCBFun)(long nPort,char * pBuf,long nSize,FRAME_INFO * pFrameInfo, long nReserved1,long nReserved2), char* pDest, long nDestSize);
//////////////////V4.8.0.0/////////////////////////////////////////////////////////
//check discontinuous frame number as error data?
PLAYM4_API BOOL __stdcall PlayM4_CheckDiscontinuousFrameNum(LONG nPort, BOOL bCheck);
//get bmp or jpeg
PLAYM4_API BOOL __stdcall PlayM4_GetBMP(LONG nPort,PBYTE pBitmap,DWORD nBufSize,DWORD* pBmpSize);
PLAYM4_API BOOL __stdcall PlayM4_GetJPEG(LONG nPort,PBYTE pJpeg,DWORD nBufSize,DWORD* pJpegSize);
//dec call back mend
PLAYM4_API BOOL __stdcall PlayM4_SetDecCallBackMend(LONG nPort,void (CALLBACK* DecCBFun)(long nPort,char * pBuf,long nSize,FRAME_INFO * pFrameInfo, long nUser,long nReserved2), long nUser);
PLAYM4_API BOOL __stdcall PlayM4_SetSecretKey(LONG nPort, LONG lKeyType, char *pSecretKey, LONG lKeyLen);
// add by gb 2007-12-23
PLAYM4_API BOOL __stdcall PlayM4_SetFileEndCallback(LONG nPort, void(CALLBACK*FileEndCallback)(long nPort, void *pUser), void *pUser);
// add by gb 080131 version 4.9.0.1
PLAYM4_API BOOL __stdcall PlayM4_GetPort(LONG* nPort);
PLAYM4_API BOOL __stdcall PlayM4_FreePort(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_SetDisplayCallBackEx(LONG nPort,void (CALLBACK* DisplayCBFun)(DISPLAY_INFO *pstDisplayInfo), long nUser);
PLAYM4_API BOOL __stdcall PlayM4_SkipErrorData(LONG nPort, BOOL bSkip);
PLAYM4_API BOOL __stdcall PlayM4_SetDecCallBackExMend(LONG nPort, void (CALLBACK* DecCBFun)(long nPort, char* pBuf, long nSize, FRAME_INFO* pFrameInfo,
long nUser, long nReserved2), char* pDest, long nDestSize, long nUser);
//reverse play add by chenjie 110609
PLAYM4_API BOOL __stdcall PlayM4_ReversePlay(LONG nPort);
PLAYM4_API BOOL __stdcall PlayM4_GetSystemTime(LONG nPort, PLAYM4_SYSTEM_TIME *pstSystemTime);
//PLAYM4_API BOOL __stdcall PlayM4_SetDecodeERC(long nPort, unsigned int nLevel);
#ifndef PLAYM4_SESSION_INFO_TAG
#define PLAYM4_SESSION_INFO_TAG
//nProtocolType
#define PLAYM4_PROTOCOL_RTSP 1
//nSessionInfoType
#define PLAYM4_SESSION_INFO_SDP 1
typedef struct _PLAYM4_SESSION_INFO_ //交互信息结构
{
int nSessionInfoType; //交互信息类型，比如SDP，比如海康私有信息头
int nSessionInfoLen; //交互信息长度
unsigned char* pSessionInfoData; //交互信息数据
} PLAYM4_SESSION_INFO;
#endif
PLAYM4_API BOOL __stdcall PlayM4_OpenStreamAdvanced(LONG nPort, int nProtocolType, PLAYM4_SESSION_INFO* pstSessionInfo, DWORD nBufPoolSize);
#define R_ANGLE_0 -1 //不旋转
#define R_ANGLE_L90 0 //向左旋转90度
#define R_ANGLE_R90 1 //向右旋转90度
#define R_ANGLE_180 2 //旋转180度
PLAYM4_API BOOL __stdcall PlayM4_SetRotateAngle(LONG nPort, DWORD nRegionNum, DWORD dwType);
#ifndef PLAYM4_ADDITION_INFO_TAG
#define PLAYM4_ADDITION_INFO_TAG
typedef struct _PLAYM4_ADDITION_INFO_ //交互信息结构
{
BYTE* pData; //附件数据
DWORD dwDatalen; //附件数据长度
DWORD dwDataType; //数据类型
DWORD dwTimeStamp; //相对时间戳
} PLAYM4_ADDITION_INFO;
#endif
//dwGroupIndex 暂约定取值0~3，第一版本取消同步只能同个closestream处理
PLAYM4_API BOOL __stdcall PlayM4_SetSycGroup(LONG nPort, DWORD dwGroupIndex);
//暂不实现此函数，同个组设置的起始时间不一致，以最小的时间作为播放起点，同一组可只设一路
PLAYM4_API BOOL __stdcall PlayM4_SetSycStartTime(LONG nPort, PLAYM4_SYSTEM_TIME *pstSystemTime);
// 以下实现鱼眼相关的接口
#ifndef FISH_EYE_TAG
#define FISH_EYE_TAG
// 安装类型
typedef enum tagFECPlaceType
{
FEC_PLACE_WALL = 0x1, // 壁装方式 (法线水平)
FEC_PLACE_FLOOR = 0x2, // 地面安装 (法线向上)
FEC_PLACE_CEILING = 0x3, // 顶装方式 (法线向下)
}FECPLACETYPE;
typedef enum tagFECCorrectType
{
FEC_CORRECT_PTZ = 0x100, // PTZ
FEC_CORRECT_180 = 0x200, // 180度矫正 （对应2P）
FEC_CORRECT_360 = 0x300, // 360全景矫正 （对应1P）
FEC_CORRECT_LAT = 0x400 //纬度展开
}FECCORRECTTYPE;
typedef struct tagCycleParam
{
float fRadiusLeft; // 圆的最左边X坐标
float fRadiusRight; // 圆的最右边X坐标
float fRadiusTop; // 圆的最上边Y坐标
float fRadiusBottom; // 圆的最下边Y坐标
}CYCLEPARAM;
typedef struct tagPTZParam
{
float fPTZPositionX; // PTZ 显示的中心位置 X坐标
float fPTZPositionY; // PTZ 显示的中心位置 Y坐标
}PTZPARAM;
// 错误码
/*********************************************
********************************************/
// 更新标记变量定义
#define FEC_UPDATE_RADIUS 0x1
#define FEC_UPDATE_PTZZOOM 0x2
#define FEC_UPDATE_WIDESCANOFFSET 0x4
#define FEC_UPDATE_PTZPARAM 0x8
typedef struct tagFECParam
{
unsigned int nUpDateType; // 更新的类型
unsigned int nPlaceAndCorrect; // 安装方式和矫正方式，只能用于获取，SetParam的时候无效,该值表示安装方式和矫正方式的和
PTZPARAM stPTZParam; // PTZ 校正的参数
CYCLEPARAM stCycleParam; // 鱼眼图像圆心参数
float fZoom; // PTZ 显示的范围参数
float fWideScanOffset; // 180或者360度校正的偏移角度
int nResver[16]; // 保留字段
}FISHEYEPARAM;
typedef void (__stdcall * FISHEYE_CallBack )( void* pUser , unsigned int nSubPort , unsigned int nCBType , void * hDC , unsigned int nWidth , unsigned int nHeight);
#endif
// 启用鱼眼
PLAYM4_API BOOL __stdcall PlayM4_FEC_Enable(LONG nPort);
// 关闭鱼眼模块
PLAYM4_API BOOL __stdcall PlayM4_FEC_Disable(LONG nPort);
// 获取鱼眼矫正处理子端口 [1~31]
PLAYM4_API BOOL __stdcall PlayM4_FEC_GetPort(LONG nPort, unsigned int* nSubPort,FECPLACETYPE emPlaceType,FECCORRECTTYPE emCorrectType);
// 删除鱼眼矫正处理子端口
PLAYM4_API BOOL __stdcall PlayM4_FEC_DelPort(LONG nPort , unsigned int nSubPort);
// 设置鱼眼矫正参数
PLAYM4_API BOOL __stdcall PlayM4_FEC_SetParam(LONG nPort , unsigned int nSubPort , FISHEYEPARAM * pPara);
// 获取鱼眼矫正参数
PLAYM4_API BOOL __stdcall PlayM4_FEC_GetParam(LONG nPort , unsigned int nSubPort , FISHEYEPARAM * pPara);
// 设置显示窗口，可以随时切换
PLAYM4_API BOOL __stdcall PlayM4_FEC_SetWnd(LONG nPort , unsigned int nSubPort , void * hWnd);
// 设置鱼眼窗口的绘图回调
PLAYM4_API BOOL __stdcall PlayM4_FEC_SetCallBack(LONG nPort , unsigned int nSubPort , FISHEYE_CallBack cbFunc , void * pUser);
//motionflow
PLAYM4_API BOOL __stdcall PlayM4_MotionFlow(LONG nPort, DWORD dwAdjustType);
//图像增强相关
#ifndef PLAYM4_HIKVIE_TAG
#define PLAYM4_HIKVIE_TAG
typedef struct _PLAYM4_VIE_DYNPARAM_
{
int moduFlag; //启用的算法处理模块，在PLAYM4_VIE_MODULES中定义
//如 PLAYM4_VIE_MODU_ADJ | PLAYM4_VIE_MODU_EHAN
//模块启用后，必须设置相应的参数；
//PLAYM4_VIE_MODU_ADJ
int brightVal; //亮度调节值，[-255, 255]
int contrastVal; //对比度调节值，[-256, 255]
int colorVal; //饱和度调节值，[-256, 255]
//PLAYM4_VIE_MODU_EHAN
int toneScale; //滤波范围，[0, 100]
int toneGain; //对比度调节，全局对比度增益值，[-256, 255]
int toneOffset; //亮度调节，亮度平均值偏移，[-255, 255]
int toneColor; //颜色调节，颜色保真值，[-256, 255]
//PLAYM4_VIE_MODU_DEHAZE
int dehazeLevel; //去雾强度，[0, 255]
int dehazeTrans; //透射值，[0, 255]
int dehazeBright; //亮度补偿，[0, 255]
//PLAYM4_VIE_MODU_DENOISE
int denoiseLevel; //去噪强度，[0, 255]
//PLAYM4_VIE_MODU_SHARPEN
int usmAmount; //锐化强度，[0, 255]
int usmRadius; //锐化半径，[1, 15]
int usmThreshold; //锐化阈值，[0, 255]
//PLAYM4_VIE_MODU_DEBLOCK
int deblockLevel; //去块强度，[0, 100]
//PLAYM4_VIE_MODU_LENS
int lensWarp; //畸变量，[-256, 255]
int lensZoom; //缩放量，[-256, 255]
//PLAYM4_VIE_MODU_CRB
//无响应参数
} PLAYM4_VIE_PARACONFIG;
typedef enum _PLAYM4_VIE_MODULES
{
PLAYM4_VIE_MODU_ADJ = 0x00000001, //图像基本调节
PLAYM4_VIE_MODU_EHAN = 0x00000002, //局部增强模块
PLAYM4_VIE_MODU_DEHAZE = 0x00000004, //去雾模块
PLAYM4_VIE_MODU_DENOISE = 0x00000008, //去噪模块
PLAYM4_VIE_MODU_SHARPEN = 0x00000010, //锐化模块
PLAYM4_VIE_MODU_DEBLOCK = 0x00000020, //去块滤波模块
PLAYM4_VIE_MODU_CRB = 0x00000040, //色彩平衡模块
PLAYM4_VIE_MODU_LENS = 0x00000080, //镜头畸变矫正模块
}PLAYM4_VIE_MODULES;
#endif
//设置关闭/开启模块
//dwModuFlag对应PLAYM4_VIE_MODULES宏,可组合
//先设置模块开启，再设置模块参数；期间采用默认的参数;
//关闭模块后，上次设置的参数清空
//其他接口调用，必须在该接口开启模块后；否则，返回错误
PLAYM4_API BOOL __stdcall PlayM4_VIE_SetModuConfig(LONG lPort,int nModuFlag,BOOL bEnable);
//设置图像增强区域，NULL全图；超过全图，采用全图；最小区域16*16像素
//可支持设置区域，最多比较说4个，第一个版本可以只支持一个。多个区域要求不能重叠，有重叠就报错
PLAYM4_API BOOL __stdcall PlayM4_VIE_SetRegion(LONG lPort,LONG lRegNum,RECT* pRect);
//获取开启模块
PLAYM4_API BOOL __stdcall PlayM4_VIE_GetModuConfig(LONG lPort,int* pdwModuFlag);
//设置参数
//未开启模块的参数设置被忽略
PLAYM4_API BOOL __stdcall PlayM4_VIE_SetParaConfig(LONG lPort,PLAYM4_VIE_PARACONFIG* pParaConfig);
//获取开启模块的参数
PLAYM4_API BOOL __stdcall PlayM4_VIE_GetParaConfig(LONG lPort,PLAYM4_VIE_PARACONFIG* pParaConfig);
//音视频同步接口
PLAYM4_API BOOL __stdcall PlayM4_SyncToAudio(LONG nPort, BOOL bSyncToAudio);
// 私有信息模块类型
typedef enum _PLAYM4_PRIDATA_RENDER
{
PLAYM4_RENDER_ANA_INTEL_DATA = 0x00000001, //智能分析
PLAYM4_RENDER_MD = 0x00000002, //移动侦测
PLAYM4_RENDER_ADD_POS = 0x00000004, //POS信息后叠加
PLAYM4_RENDER_ADD_PIC = 0x00000008, //图片叠加
PLAYM4_RENDER_FIRE_DETCET = 0x00000010, //热成像信息
PLAYM4_RENDER_TEM = 0x00000020, //温度信息
PLAYM4_RENDER_TRACK_TEM = 0x00000040, //轨迹信息
PLAYM4_RENDER_THERMAL = 0x00000080 //废气检测和烟火屏蔽信息
}PLAYM4_PRIDATA_RENDER;
typedef enum _PLAYM4_THERMAL_FLAG
{
PLAYM4_THERMAL_FIREMASK = 0x00000001, //烟火屏蔽
PLAYM4_THERMAL_RULEGAS = 0x00000002, //规则废气检测
PLAYM4_THERMAL_TARGETGAS = 0x00000004 //目标废气检测
}PLAYM4_THERMAL_FLAG;
typedef enum _PLAYM4_FIRE_ALARM{
PLAYM4_FIRE_FRAME_DIS = 0x00000001, //火点框显示
PLAYM4_FIRE_MAX_TEMP = 0x00000002, //最高温度
PLAYM4_FIRE_MAX_TEMP_POSITION = 0x00000004, //最高温度位置显示
PLAYM4_FIRE_DISTANCE = 0x00000008, //最高温度距离}PLAYM4_FIRE_ALARM
}PLAYM4_FIRE_ALARM;
typedef enum _PLAYM4_TEM_FLAG{
PLAYM4_TEM_REGION_BOX = 0x00000001, //框测温
PLAYM4_TEM_REGION_LINE = 0x00000002, //线测温
PLAYM4_TEM_REGION_POINT = 0x00000004, //点测温}PLAYM4_TEM_FLAG
}PLAYM4_TEM_FLAG;
typedef enum _PLAYM4_TRACK_FLAG
{
PLAYM4_TRACK_PEOPLE = 0x00000001, //人轨迹
PLAYM4_TRACK_VEHICLE = 0x00000002, //车轨迹
}PLAYM4_TRACK_FLAG;
typedef struct TI_PTZ_INFO_
{
unsigned short dwDefVer; //结构体版本
unsigned short dwLength; //PTZ_info长度，以8字节为单位
DWORD dwP; //P（0~3600）
DWORD dwT; //T（0~3600）
DWORD dwZ; //Z（0~3600）
BYTE chFSMState; //跟随状态
BYTE bClearFocusState; //聚焦清晰状态（0,1）
BYTE reserved[6]; //6个字节保留
}PTZ_INFO;
// 智能信息开关
PLAYM4_API BOOL __stdcall PlayM4_RenderPrivateData(LONG nPort, int nIntelType, BOOL bTrue);
PLAYM4_API BOOL __stdcall PlayM4_RenderPrivateDataEx(LONG nPort, int nIntelType, int nSubType, BOOL bTrue);
// 加密码流回调,nType=0表示码流加密标记位发生变化就回调，nType=1表示码流有加密位发生回调
PLAYM4_API BOOL __stdcall PlayM4_SetEncryptTypeCallBack(LONG nPort, DWORD nType,
void (CALLBACK* EncryptTypeCBFun)(long nPort, ENCRYPT_INFO* pEncryptInfo, long nUser, long nReserved2), long nUser);
//lType: 1 表示获取当前显示帧PTZ信息。以特定结构体形式存储在pInfo内，plLen返回长度信息
PLAYM4_API BOOL __stdcall PlayM4_GetStreamAdditionalInfo(LONG nPort, LONG lType, BYTE* pInfo, LONG* plLen);
#endif //_PLAYM4_H_

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/*
By downloading, copying, installing or using the software you agree to this
license. If you do not agree to this license, do not download, install,
copy or use the software.
License Agreement
For Open Source Computer Vision Library
(3-clause BSD License)
Copyright (C) 2013, OpenCV Foundation, all rights reserved.
Third party copyrights are property of their respective owners.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the names of the copyright holders nor the names of the contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
This software is provided by the copyright holders and contributors "as is" and
any express or implied warranties, including, but not limited to, the implied
warranties of merchantability and fitness for a particular purpose are
disclaimed. In no event shall copyright holders or contributors be liable for
any direct, indirect, incidental, special, exemplary, or consequential damages
(including, but not limited to, procurement of substitute goods or services;
loss of use, data, or profits; or business interruption) however caused
and on any theory of liability, whether in contract, strict liability,
or tort (including negligence or otherwise) arising in any way out of
the use of this software, even if advised of the possibility of such damage.
*/
#ifndef __OPENCV_ARUCO_HPP__
#define __OPENCV_ARUCO_HPP__
#include <opencv2/core.hpp>
#include <vector>
#include "opencv2/aruco/dictionary.hpp"
/**
* @defgroup aruco ArUco Marker Detection
* This module is dedicated to square fiducial markers (also known as Augmented Reality Markers)
* These markers are useful for easy, fast and robust camera pose estimation.ç
*
* The main functionalities are:
* - Detection of markers in an image
* - Pose estimation from a single marker or from a board/set of markers
* - Detection of ChArUco board for high subpixel accuracy
* - Camera calibration from both, ArUco boards and ChArUco boards.
* - Detection of ChArUco diamond markers
* The samples directory includes easy examples of how to use the module.
*
* The implementation is based on the ArUco Library by R. Muñoz-Salinas and S. Garrido-Jurado @cite Aruco2014.
*
* Markers can also be detected based on the AprilTag 2 @cite wang2016iros fiducial detection method.
*
* @sa S. Garrido-Jurado, R. Muñoz-Salinas, F. J. Madrid-Cuevas, and M. J. Marín-Jiménez. 2014.
* "Automatic generation and detection of highly reliable fiducial markers under occlusion".
* Pattern Recogn. 47, 6 (June 2014), 2280-2292. DOI=10.1016/j.patcog.2014.01.005
*
* @sa http://www.uco.es/investiga/grupos/ava/node/26
*
* This module has been originally developed by Sergio Garrido-Jurado as a project
* for Google Summer of Code 2015 (GSoC 15).
*
*
*/
namespace cv {
namespace aruco {
//! @addtogroup aruco
//! @{
enum CornerRefineMethod{
CORNER_REFINE_NONE, ///< Tag and corners detection based on the ArUco approach
CORNER_REFINE_SUBPIX, ///< ArUco approach and refine the corners locations using corner subpixel accuracy
CORNER_REFINE_CONTOUR, ///< ArUco approach and refine the corners locations using the contour-points line fitting
CORNER_REFINE_APRILTAG, ///< Tag and corners detection based on the AprilTag 2 approach @cite wang2016iros
};
/**
* @brief Parameters for the detectMarker process:
* - adaptiveThreshWinSizeMin: minimum window size for adaptive thresholding before finding
* contours (default 3).
* - adaptiveThreshWinSizeMax: maximum window size for adaptive thresholding before finding
* contours (default 23).
* - adaptiveThreshWinSizeStep: increments from adaptiveThreshWinSizeMin to adaptiveThreshWinSizeMax
* during the thresholding (default 10).
* - adaptiveThreshConstant: constant for adaptive thresholding before finding contours (default 7)
* - minMarkerPerimeterRate: determine minimum perimeter for marker contour to be detected. This
* is defined as a rate respect to the maximum dimension of the input image (default 0.03).
* - maxMarkerPerimeterRate: determine maximum perimeter for marker contour to be detected. This
* is defined as a rate respect to the maximum dimension of the input image (default 4.0).
* - polygonalApproxAccuracyRate: minimum accuracy during the polygonal approximation process to
* determine which contours are squares. (default 0.03)
* - minCornerDistanceRate: minimum distance between corners for detected markers relative to its
* perimeter (default 0.05)
* - minDistanceToBorder: minimum distance of any corner to the image border for detected markers
* (in pixels) (default 3)
* - minMarkerDistanceRate: minimum mean distance beetween two marker corners to be considered
* similar, so that the smaller one is removed. The rate is relative to the smaller perimeter
* of the two markers (default 0.05).
* - cornerRefinementMethod: corner refinement method. (CORNER_REFINE_NONE, no refinement.
* CORNER_REFINE_SUBPIX, do subpixel refinement. CORNER_REFINE_CONTOUR use contour-Points,
* CORNER_REFINE_APRILTAG use the AprilTag2 approach). (default CORNER_REFINE_NONE)
* - cornerRefinementWinSize: window size for the corner refinement process (in pixels) (default 5).
* - cornerRefinementMaxIterations: maximum number of iterations for stop criteria of the corner
* refinement process (default 30).
* - cornerRefinementMinAccuracy: minimum error for the stop cristeria of the corner refinement
* process (default: 0.1)
* - markerBorderBits: number of bits of the marker border, i.e. marker border width (default 1).
* - perspectiveRemovePixelPerCell: number of bits (per dimension) for each cell of the marker
* when removing the perspective (default 4).
* - perspectiveRemoveIgnoredMarginPerCell: width of the margin of pixels on each cell not
* considered for the determination of the cell bit. Represents the rate respect to the total
* size of the cell, i.e. perspectiveRemovePixelPerCell (default 0.13)
* - maxErroneousBitsInBorderRate: maximum number of accepted erroneous bits in the border (i.e.
* number of allowed white bits in the border). Represented as a rate respect to the total
* number of bits per marker (default 0.35).
* - minOtsuStdDev: minimun standard deviation in pixels values during the decodification step to
* apply Otsu thresholding (otherwise, all the bits are set to 0 or 1 depending on mean higher
* than 128 or not) (default 5.0)
* - errorCorrectionRate error correction rate respect to the maximun error correction capability
* for each dictionary. (default 0.6).
* - aprilTagMinClusterPixels: reject quads containing too few pixels. (default 5)
* - aprilTagMaxNmaxima: how many corner candidates to consider when segmenting a group of pixels into a quad. (default 10)
* - aprilTagCriticalRad: Reject quads where pairs of edges have angles that are close to straight or close to
* 180 degrees. Zero means that no quads are rejected. (In radians) (default 10*PI/180)
* - aprilTagMaxLineFitMse: When fitting lines to the contours, what is the maximum mean squared error
* allowed? This is useful in rejecting contours that are far from being quad shaped; rejecting
* these quads "early" saves expensive decoding processing. (default 10.0)
* - aprilTagMinWhiteBlackDiff: When we build our model of black & white pixels, we add an extra check that
* the white model must be (overall) brighter than the black model. How much brighter? (in pixel values, [0,255]). (default 5)
* - aprilTagDeglitch: should the thresholded image be deglitched? Only useful for very noisy images. (default 0)
* - aprilTagQuadDecimate: Detection of quads can be done on a lower-resolution image, improving speed at a
* cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still
* done at full resolution. (default 0.0)
* - aprilTagQuadSigma: What Gaussian blur should be applied to the segmented image (used for quad detection?)
* Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8). (default 0.0)
* - detectInvertedMarker: to check if there is a white marker. In order to generate a "white" marker just
* invert a normal marker by using a tilde, ~markerImage. (default false)
*/
struct CV_EXPORTS_W DetectorParameters {
DetectorParameters();
CV_WRAP static Ptr<DetectorParameters> create();
CV_PROP_RW int adaptiveThreshWinSizeMin;
CV_PROP_RW int adaptiveThreshWinSizeMax;
CV_PROP_RW int adaptiveThreshWinSizeStep;
CV_PROP_RW double adaptiveThreshConstant;
CV_PROP_RW double minMarkerPerimeterRate;
CV_PROP_RW double maxMarkerPerimeterRate;
CV_PROP_RW double polygonalApproxAccuracyRate;
CV_PROP_RW double minCornerDistanceRate;
CV_PROP_RW int minDistanceToBorder;
CV_PROP_RW double minMarkerDistanceRate;
CV_PROP_RW int cornerRefinementMethod;
CV_PROP_RW int cornerRefinementWinSize;
CV_PROP_RW int cornerRefinementMaxIterations;
CV_PROP_RW double cornerRefinementMinAccuracy;
CV_PROP_RW int markerBorderBits;
CV_PROP_RW int perspectiveRemovePixelPerCell;
CV_PROP_RW double perspectiveRemoveIgnoredMarginPerCell;
CV_PROP_RW double maxErroneousBitsInBorderRate;
CV_PROP_RW double minOtsuStdDev;
CV_PROP_RW double errorCorrectionRate;
// April :: User-configurable parameters.
CV_PROP_RW float aprilTagQuadDecimate;
CV_PROP_RW float aprilTagQuadSigma;
// April :: Internal variables
CV_PROP_RW int aprilTagMinClusterPixels;
CV_PROP_RW int aprilTagMaxNmaxima;
CV_PROP_RW float aprilTagCriticalRad;
CV_PROP_RW float aprilTagMaxLineFitMse;
CV_PROP_RW int aprilTagMinWhiteBlackDiff;
CV_PROP_RW int aprilTagDeglitch;
// to detect white (inverted) markers
CV_PROP_RW bool detectInvertedMarker;
};
/**
* @brief Basic marker detection
*
* @param image input image
* @param dictionary indicates the type of markers that will be searched
* @param corners vector of detected marker corners. For each marker, its four corners
* are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers,
* the dimensions of this array is Nx4. The order of the corners is clockwise.
* @param ids vector of identifiers of the detected markers. The identifier is of type int
* (e.g. std::vector<int>). For N detected markers, the size of ids is also N.
* The identifiers have the same order than the markers in the imgPoints array.
* @param parameters marker detection parameters
* @param rejectedImgPoints contains the imgPoints of those squares whose inner code has not a
* correct codification. Useful for debugging purposes.
* @param cameraMatrix optional input 3x3 floating-point camera matrix
* \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
* @param distCoeff optional vector of distortion coefficients
* \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
*
* Performs marker detection in the input image. Only markers included in the specific dictionary
* are searched. For each detected marker, it returns the 2D position of its corner in the image
* and its corresponding identifier.
* Note that this function does not perform pose estimation.
* @sa estimatePoseSingleMarkers, estimatePoseBoard
*
*/
CV_EXPORTS_W void detectMarkers(InputArray image, const Ptr<Dictionary> &dictionary, OutputArrayOfArrays corners,
OutputArray ids, const Ptr<DetectorParameters> &parameters = DetectorParameters::create(),
OutputArrayOfArrays rejectedImgPoints = noArray(), InputArray cameraMatrix= noArray(), InputArray distCoeff= noArray());
/**
* @brief Pose estimation for single markers
*
* @param corners vector of already detected markers corners. For each marker, its four corners
* are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers,
* the dimensions of this array should be Nx4. The order of the corners should be clockwise.
* @sa detectMarkers
* @param markerLength the length of the markers' side. The returning translation vectors will
* be in the same unit. Normally, unit is meters.
* @param cameraMatrix input 3x3 floating-point camera matrix
* \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
* @param distCoeffs vector of distortion coefficients
* \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
* @param rvecs array of output rotation vectors (@sa Rodrigues) (e.g. std::vector<cv::Vec3d>).
* Each element in rvecs corresponds to the specific marker in imgPoints.
* @param tvecs array of output translation vectors (e.g. std::vector<cv::Vec3d>).
* Each element in tvecs corresponds to the specific marker in imgPoints.
* @param _objPoints array of object points of all the marker corners
*
* This function receives the detected markers and returns their pose estimation respect to
* the camera individually. So for each marker, one rotation and translation vector is returned.
* The returned transformation is the one that transforms points from each marker coordinate system
* to the camera coordinate system.
* The marker corrdinate system is centered on the middle of the marker, with the Z axis
* perpendicular to the marker plane.
* The coordinates of the four corners of the marker in its own coordinate system are:
* (-markerLength/2, markerLength/2, 0), (markerLength/2, markerLength/2, 0),
* (markerLength/2, -markerLength/2, 0), (-markerLength/2, -markerLength/2, 0)
*/
CV_EXPORTS_W void estimatePoseSingleMarkers(InputArrayOfArrays corners, float markerLength,
InputArray cameraMatrix, InputArray distCoeffs,
OutputArray rvecs, OutputArray tvecs, OutputArray _objPoints = noArray());
/**
* @brief Board of markers
*
* A board is a set of markers in the 3D space with a common coordinate system.
* The common form of a board of marker is a planar (2D) board, however any 3D layout can be used.
* A Board object is composed by:
* - The object points of the marker corners, i.e. their coordinates respect to the board system.
* - The dictionary which indicates the type of markers of the board
* - The identifier of all the markers in the board.
*/
class CV_EXPORTS_W Board {
public:
/**
* @brief Provide way to create Board by passing necessary data. Specially needed in Python.
*
* @param objPoints array of object points of all the marker corners in the board
* @param dictionary the dictionary of markers employed for this board
* @param ids vector of the identifiers of the markers in the board
*
*/
CV_WRAP static Ptr<Board> create(InputArrayOfArrays objPoints, const Ptr<Dictionary> &dictionary, InputArray ids);
/**
* @brief Set ids vector
*
* @param ids vector of the identifiers of the markers in the board (should be the same size
* as objPoints)
*
* Recommended way to set ids vector, which will fail if the size of ids does not match size
* of objPoints.
*/
CV_WRAP void setIds(InputArray ids);
/// array of object points of all the marker corners in the board
/// each marker include its 4 corners in CCW order. For M markers, the size is Mx4.
CV_PROP std::vector< std::vector< Point3f > > objPoints;
/// the dictionary of markers employed for this board
CV_PROP Ptr<Dictionary> dictionary;
/// vector of the identifiers of the markers in the board (same size than objPoints)
/// The identifiers refers to the board dictionary
CV_PROP_RW std::vector< int > ids;
};
/**
* @brief Planar board with grid arrangement of markers
* More common type of board. All markers are placed in the same plane in a grid arrangement.
* The board can be drawn using drawPlanarBoard() function (@sa drawPlanarBoard)
*/
class CV_EXPORTS_W GridBoard : public Board {
public:
/**
* @brief Draw a GridBoard
*
* @param outSize size of the output image in pixels.
* @param img output image with the board. The size of this image will be outSize
* and the board will be on the center, keeping the board proportions.
* @param marginSize minimum margins (in pixels) of the board in the output image
* @param borderBits width of the marker borders.
*
* This function return the image of the GridBoard, ready to be printed.
*/
CV_WRAP void draw(Size outSize, OutputArray img, int marginSize = 0, int borderBits = 1);
/**
* @brief Create a GridBoard object
*
* @param markersX number of markers in X direction
* @param markersY number of markers in Y direction
* @param markerLength marker side length (normally in meters)
* @param markerSeparation separation between two markers (same unit as markerLength)
* @param dictionary dictionary of markers indicating the type of markers
* @param firstMarker id of first marker in dictionary to use on board.
* @return the output GridBoard object
*
* This functions creates a GridBoard object given the number of markers in each direction and
* the marker size and marker separation.
*/
CV_WRAP static Ptr<GridBoard> create(int markersX, int markersY, float markerLength,
float markerSeparation, const Ptr<Dictionary> &dictionary, int firstMarker = 0);
/**
*
*/
CV_WRAP Size getGridSize() const { return Size(_markersX, _markersY); }
/**
*
*/
CV_WRAP float getMarkerLength() const { return _markerLength; }
/**
*
*/
CV_WRAP float getMarkerSeparation() const { return _markerSeparation; }
private:
// number of markers in X and Y directions
int _markersX, _markersY;
// marker side length (normally in meters)
float _markerLength;
// separation between markers in the grid
float _markerSeparation;
};
/**
* @brief Pose estimation for a board of markers
*
* @param corners vector of already detected markers corners. For each marker, its four corners
* are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the
* dimensions of this array should be Nx4. The order of the corners should be clockwise.
* @param ids list of identifiers for each marker in corners
* @param board layout of markers in the board. The layout is composed by the marker identifiers
* and the positions of each marker corner in the board reference system.
* @param cameraMatrix input 3x3 floating-point camera matrix
* \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
* @param distCoeffs vector of distortion coefficients
* \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
* @param rvec Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board
* (see cv::Rodrigues). Used as initial guess if not empty.
* @param tvec Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
* @param useExtrinsicGuess defines whether initial guess for \b rvec and \b tvec will be used or not.
* Used as initial guess if not empty.
*
* This function receives the detected markers and returns the pose of a marker board composed
* by those markers.
* A Board of marker has a single world coordinate system which is defined by the board layout.
* The returned transformation is the one that transforms points from the board coordinate system
* to the camera coordinate system.
* Input markers that are not included in the board layout are ignored.
* The function returns the number of markers from the input employed for the board pose estimation.
* Note that returning a 0 means the pose has not been estimated.
*/
CV_EXPORTS_W int estimatePoseBoard(InputArrayOfArrays corners, InputArray ids, const Ptr<Board> &board,
InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec,
InputOutputArray tvec, bool useExtrinsicGuess = false);
/**
* @brief Refind not detected markers based on the already detected and the board layout
*
* @param image input image
* @param board layout of markers in the board.
* @param detectedCorners vector of already detected marker corners.
* @param detectedIds vector of already detected marker identifiers.
* @param rejectedCorners vector of rejected candidates during the marker detection process.
* @param cameraMatrix optional input 3x3 floating-point camera matrix
* \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
* @param distCoeffs optional vector of distortion coefficients
* \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
* @param minRepDistance minimum distance between the corners of the rejected candidate and the
* reprojected marker in order to consider it as a correspondence.
* @param errorCorrectionRate rate of allowed erroneous bits respect to the error correction
* capability of the used dictionary. -1 ignores the error correction step.
* @param checkAllOrders Consider the four posible corner orders in the rejectedCorners array.
* If it set to false, only the provided corner order is considered (default true).
* @param recoveredIdxs Optional array to returns the indexes of the recovered candidates in the
* original rejectedCorners array.
* @param parameters marker detection parameters
*
* This function tries to find markers that were not detected in the basic detecMarkers function.
* First, based on the current detected marker and the board layout, the function interpolates
* the position of the missing markers. Then it tries to find correspondence between the reprojected
* markers and the rejected candidates based on the minRepDistance and errorCorrectionRate
* parameters.
* If camera parameters and distortion coefficients are provided, missing markers are reprojected
* using projectPoint function. If not, missing marker projections are interpolated using global
* homography, and all the marker corners in the board must have the same Z coordinate.
*/
CV_EXPORTS_W void refineDetectedMarkers(
InputArray image,const Ptr<Board> &board, InputOutputArrayOfArrays detectedCorners,
InputOutputArray detectedIds, InputOutputArrayOfArrays rejectedCorners,
InputArray cameraMatrix = noArray(), InputArray distCoeffs = noArray(),
float minRepDistance = 10.f, float errorCorrectionRate = 3.f, bool checkAllOrders = true,
OutputArray recoveredIdxs = noArray(), const Ptr<DetectorParameters> &parameters = DetectorParameters::create());
/**
* @brief Draw detected markers in image
*
* @param image input/output image. It must have 1 or 3 channels. The number of channels is not
* altered.
* @param corners positions of marker corners on input image.
* (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the dimensions of
* this array should be Nx4. The order of the corners should be clockwise.
* @param ids vector of identifiers for markers in markersCorners .
* Optional, if not provided, ids are not painted.
* @param borderColor color of marker borders. Rest of colors (text color and first corner color)
* are calculated based on this one to improve visualization.
*
* Given an array of detected marker corners and its corresponding ids, this functions draws
* the markers in the image. The marker borders are painted and the markers identifiers if provided.
* Useful for debugging purposes.
*/
CV_EXPORTS_W void drawDetectedMarkers(InputOutputArray image, InputArrayOfArrays corners,
InputArray ids = noArray(),
Scalar borderColor = Scalar(0, 255, 0));
/**
* @brief Draw coordinate system axis from pose estimation
*
* @param image input/output image. It must have 1 or 3 channels. The number of channels is not
* altered.
* @param cameraMatrix input 3x3 floating-point camera matrix
* \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
* @param distCoeffs vector of distortion coefficients
* \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
* @param rvec rotation vector of the coordinate system that will be drawn. (@sa Rodrigues).
* @param tvec translation vector of the coordinate system that will be drawn.
* @param length length of the painted axis in the same unit than tvec (usually in meters)
*
* Given the pose estimation of a marker or board, this function draws the axis of the world
* coordinate system, i.e. the system centered on the marker/board. Useful for debugging purposes.
*
* @deprecated use cv::drawFrameAxes
*/
CV_EXPORTS_W void drawAxis(InputOutputArray image, InputArray cameraMatrix, InputArray distCoeffs,
InputArray rvec, InputArray tvec, float length);
/**
* @brief Draw a canonical marker image
*
* @param dictionary dictionary of markers indicating the type of markers
* @param id identifier of the marker that will be returned. It has to be a valid id
* in the specified dictionary.
* @param sidePixels size of the image in pixels
* @param img output image with the marker
* @param borderBits width of the marker border.
*
* This function returns a marker image in its canonical form (i.e. ready to be printed)
*/
CV_EXPORTS_W void drawMarker(const Ptr<Dictionary> &dictionary, int id, int sidePixels, OutputArray img,
int borderBits = 1);
/**
* @brief Draw a planar board
* @sa _drawPlanarBoardImpl
*
* @param board layout of the board that will be drawn. The board should be planar,
* z coordinate is ignored
* @param outSize size of the output image in pixels.
* @param img output image with the board. The size of this image will be outSize
* and the board will be on the center, keeping the board proportions.
* @param marginSize minimum margins (in pixels) of the board in the output image
* @param borderBits width of the marker borders.
*
* This function return the image of a planar board, ready to be printed. It assumes
* the Board layout specified is planar by ignoring the z coordinates of the object points.
*/
CV_EXPORTS_W void drawPlanarBoard(const Ptr<Board> &board, Size outSize, OutputArray img,
int marginSize = 0, int borderBits = 1);
/**
* @brief Implementation of drawPlanarBoard that accepts a raw Board pointer.
*/
void _drawPlanarBoardImpl(Board *board, Size outSize, OutputArray img,
int marginSize = 0, int borderBits = 1);
/**
* @brief Calibrate a camera using aruco markers
*
* @param corners vector of detected marker corners in all frames.
* The corners should have the same format returned by detectMarkers (see #detectMarkers).
* @param ids list of identifiers for each marker in corners
* @param counter number of markers in each frame so that corners and ids can be split
* @param board Marker Board layout
* @param imageSize Size of the image used only to initialize the intrinsic camera matrix.
* @param cameraMatrix Output 3x3 floating-point camera matrix
* \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ . If CV\_CALIB\_USE\_INTRINSIC\_GUESS
* and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
* initialized before calling the function.
* @param distCoeffs Output vector of distortion coefficients
* \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
* @param rvecs Output vector of rotation vectors (see Rodrigues ) estimated for each board view
* (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding
* k-th translation vector (see the next output parameter description) brings the board pattern
* from the model coordinate space (in which object points are specified) to the world coordinate
* space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
* @param tvecs Output vector of translation vectors estimated for each pattern view.
* @param stdDeviationsIntrinsics Output vector of standard deviations estimated for intrinsic parameters.
* Order of deviations values:
* \f$(f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
* s_4, \tau_x, \tau_y)\f$ If one of parameters is not estimated, it's deviation is equals to zero.
* @param stdDeviationsExtrinsics Output vector of standard deviations estimated for extrinsic parameters.
* Order of deviations values: \f$(R_1, T_1, \dotsc , R_M, T_M)\f$ where M is number of pattern views,
* \f$R_i, T_i\f$ are concatenated 1x3 vectors.
* @param perViewErrors Output vector of average re-projection errors estimated for each pattern view.
* @param flags flags Different flags for the calibration process (see #calibrateCamera for details).
* @param criteria Termination criteria for the iterative optimization algorithm.
*
* This function calibrates a camera using an Aruco Board. The function receives a list of
* detected markers from several views of the Board. The process is similar to the chessboard
* calibration in calibrateCamera(). The function returns the final re-projection error.
*/
CV_EXPORTS_AS(calibrateCameraArucoExtended) double calibrateCameraAruco(
InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr<Board> &board,
Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics,
OutputArray perViewErrors, int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
/** @brief It's the same function as #calibrateCameraAruco but without calibration error estimation.
*/
CV_EXPORTS_W double calibrateCameraAruco(
InputArrayOfArrays corners, InputArray ids, InputArray counter, const Ptr<Board> &board,
Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs = noArray(), OutputArrayOfArrays tvecs = noArray(), int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
/**
* @brief Given a board configuration and a set of detected markers, returns the corresponding
* image points and object points to call solvePnP
*
* @param board Marker board layout.
* @param detectedCorners List of detected marker corners of the board.
* @param detectedIds List of identifiers for each marker.
* @param objPoints Vector of vectors of board marker points in the board coordinate space.
* @param imgPoints Vector of vectors of the projections of board marker corner points.
*/
CV_EXPORTS_W void getBoardObjectAndImagePoints(const Ptr<Board> &board, InputArrayOfArrays detectedCorners,
InputArray detectedIds, OutputArray objPoints, OutputArray imgPoints);
//! @}
}
}
#endif

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/*
By downloading, copying, installing or using the software you agree to this
license. If you do not agree to this license, do not download, install,
copy or use the software.
License Agreement
For Open Source Computer Vision Library
(3-clause BSD License)
Copyright (C) 2013, OpenCV Foundation, all rights reserved.
Third party copyrights are property of their respective owners.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the names of the copyright holders nor the names of the contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
This software is provided by the copyright holders and contributors "as is" and
any express or implied warranties, including, but not limited to, the implied
warranties of merchantability and fitness for a particular purpose are
disclaimed. In no event shall copyright holders or contributors be liable for
any direct, indirect, incidental, special, exemplary, or consequential damages
(including, but not limited to, procurement of substitute goods or services;
loss of use, data, or profits; or business interruption) however caused
and on any theory of liability, whether in contract, strict liability,
or tort (including negligence or otherwise) arising in any way out of
the use of this software, even if advised of the possibility of such damage.
*/
#ifndef __OPENCV_CHARUCO_HPP__
#define __OPENCV_CHARUCO_HPP__
#include <opencv2/core.hpp>
#include <vector>
#include <opencv2/aruco.hpp>
namespace cv {
namespace aruco {
//! @addtogroup aruco
//! @{
/**
* @brief ChArUco board
* Specific class for ChArUco boards. A ChArUco board is a planar board where the markers are placed
* inside the white squares of a chessboard. The benefits of ChArUco boards is that they provide
* both, ArUco markers versatility and chessboard corner precision, which is important for
* calibration and pose estimation.
* This class also allows the easy creation and drawing of ChArUco boards.
*/
class CV_EXPORTS_W CharucoBoard : public Board {
public:
// vector of chessboard 3D corners precalculated
CV_PROP std::vector< Point3f > chessboardCorners;
// for each charuco corner, nearest marker id and nearest marker corner id of each marker
CV_PROP std::vector< std::vector< int > > nearestMarkerIdx;
CV_PROP std::vector< std::vector< int > > nearestMarkerCorners;
/**
* @brief Draw a ChArUco board
*
* @param outSize size of the output image in pixels.
* @param img output image with the board. The size of this image will be outSize
* and the board will be on the center, keeping the board proportions.
* @param marginSize minimum margins (in pixels) of the board in the output image
* @param borderBits width of the marker borders.
*
* This function return the image of the ChArUco board, ready to be printed.
*/
CV_WRAP void draw(Size outSize, OutputArray img, int marginSize = 0, int borderBits = 1);
/**
* @brief Create a CharucoBoard object
*
* @param squaresX number of chessboard squares in X direction
* @param squaresY number of chessboard squares in Y direction
* @param squareLength chessboard square side length (normally in meters)
* @param markerLength marker side length (same unit than squareLength)
* @param dictionary dictionary of markers indicating the type of markers.
* The first markers in the dictionary are used to fill the white chessboard squares.
* @return the output CharucoBoard object
*
* This functions creates a CharucoBoard object given the number of squares in each direction
* and the size of the markers and chessboard squares.
*/
CV_WRAP static Ptr<CharucoBoard> create(int squaresX, int squaresY, float squareLength,
float markerLength, const Ptr<Dictionary> &dictionary);
/**
*
*/
CV_WRAP Size getChessboardSize() const { return Size(_squaresX, _squaresY); }
/**
*
*/
CV_WRAP float getSquareLength() const { return _squareLength; }
/**
*
*/
CV_WRAP float getMarkerLength() const { return _markerLength; }
private:
void _getNearestMarkerCorners();
// number of markers in X and Y directions
int _squaresX, _squaresY;
// size of chessboard squares side (normally in meters)
float _squareLength;
// marker side length (normally in meters)
float _markerLength;
};
/**
* @brief Interpolate position of ChArUco board corners
* @param markerCorners vector of already detected markers corners. For each marker, its four
* corners are provided, (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers, the
* dimensions of this array should be Nx4. The order of the corners should be clockwise.
* @param markerIds list of identifiers for each marker in corners
* @param image input image necesary for corner refinement. Note that markers are not detected and
* should be sent in corners and ids parameters.
* @param board layout of ChArUco board.
* @param charucoCorners interpolated chessboard corners
* @param charucoIds interpolated chessboard corners identifiers
* @param cameraMatrix optional 3x3 floating-point camera matrix
* \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
* @param distCoeffs optional vector of distortion coefficients
* \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
* @param minMarkers number of adjacent markers that must be detected to return a charuco corner
*
* This function receives the detected markers and returns the 2D position of the chessboard corners
* from a ChArUco board using the detected Aruco markers. If camera parameters are provided,
* the process is based in an approximated pose estimation, else it is based on local homography.
* Only visible corners are returned. For each corner, its corresponding identifier is
* also returned in charucoIds.
* The function returns the number of interpolated corners.
*/
CV_EXPORTS_W int interpolateCornersCharuco(InputArrayOfArrays markerCorners, InputArray markerIds,
InputArray image, const Ptr<CharucoBoard> &board,
OutputArray charucoCorners, OutputArray charucoIds,
InputArray cameraMatrix = noArray(),
InputArray distCoeffs = noArray(), int minMarkers = 2);
/**
* @brief Pose estimation for a ChArUco board given some of their corners
* @param charucoCorners vector of detected charuco corners
* @param charucoIds list of identifiers for each corner in charucoCorners
* @param board layout of ChArUco board.
* @param cameraMatrix input 3x3 floating-point camera matrix
* \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$
* @param distCoeffs vector of distortion coefficients
* \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
* @param rvec Output vector (e.g. cv::Mat) corresponding to the rotation vector of the board
* (see cv::Rodrigues).
* @param tvec Output vector (e.g. cv::Mat) corresponding to the translation vector of the board.
* @param useExtrinsicGuess defines whether initial guess for \b rvec and \b tvec will be used or not.
*
* This function estimates a Charuco board pose from some detected corners.
* The function checks if the input corners are enough and valid to perform pose estimation.
* If pose estimation is valid, returns true, else returns false.
*/
CV_EXPORTS_W bool estimatePoseCharucoBoard(InputArray charucoCorners, InputArray charucoIds,
const Ptr<CharucoBoard> &board, InputArray cameraMatrix,
InputArray distCoeffs, InputOutputArray rvec,
InputOutputArray tvec, bool useExtrinsicGuess = false);
/**
* @brief Draws a set of Charuco corners
* @param image input/output image. It must have 1 or 3 channels. The number of channels is not
* altered.
* @param charucoCorners vector of detected charuco corners
* @param charucoIds list of identifiers for each corner in charucoCorners
* @param cornerColor color of the square surrounding each corner
*
* This function draws a set of detected Charuco corners. If identifiers vector is provided, it also
* draws the id of each corner.
*/
CV_EXPORTS_W void drawDetectedCornersCharuco(InputOutputArray image, InputArray charucoCorners,
InputArray charucoIds = noArray(),
Scalar cornerColor = Scalar(255, 0, 0));
/**
* @brief Calibrate a camera using Charuco corners
*
* @param charucoCorners vector of detected charuco corners per frame
* @param charucoIds list of identifiers for each corner in charucoCorners per frame
* @param board Marker Board layout
* @param imageSize input image size
* @param cameraMatrix Output 3x3 floating-point camera matrix
* \f$A = \vecthreethree{f_x}{0}{c_x}{0}{f_y}{c_y}{0}{0}{1}\f$ . If CV\_CALIB\_USE\_INTRINSIC\_GUESS
* and/or CV_CALIB_FIX_ASPECT_RATIO are specified, some or all of fx, fy, cx, cy must be
* initialized before calling the function.
* @param distCoeffs Output vector of distortion coefficients
* \f$(k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6],[s_1, s_2, s_3, s_4]])\f$ of 4, 5, 8 or 12 elements
* @param rvecs Output vector of rotation vectors (see Rodrigues ) estimated for each board view
* (e.g. std::vector<cv::Mat>>). That is, each k-th rotation vector together with the corresponding
* k-th translation vector (see the next output parameter description) brings the board pattern
* from the model coordinate space (in which object points are specified) to the world coordinate
* space, that is, a real position of the board pattern in the k-th pattern view (k=0.. *M* -1).
* @param tvecs Output vector of translation vectors estimated for each pattern view.
* @param stdDeviationsIntrinsics Output vector of standard deviations estimated for intrinsic parameters.
* Order of deviations values:
* \f$(f_x, f_y, c_x, c_y, k_1, k_2, p_1, p_2, k_3, k_4, k_5, k_6 , s_1, s_2, s_3,
* s_4, \tau_x, \tau_y)\f$ If one of parameters is not estimated, it's deviation is equals to zero.
* @param stdDeviationsExtrinsics Output vector of standard deviations estimated for extrinsic parameters.
* Order of deviations values: \f$(R_1, T_1, \dotsc , R_M, T_M)\f$ where M is number of pattern views,
* \f$R_i, T_i\f$ are concatenated 1x3 vectors.
* @param perViewErrors Output vector of average re-projection errors estimated for each pattern view.
* @param flags flags Different flags for the calibration process (see #calibrateCamera for details).
* @param criteria Termination criteria for the iterative optimization algorithm.
*
* This function calibrates a camera using a set of corners of a Charuco Board. The function
* receives a list of detected corners and its identifiers from several views of the Board.
* The function returns the final re-projection error.
*/
CV_EXPORTS_AS(calibrateCameraCharucoExtended) double calibrateCameraCharuco(
InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds, const Ptr<CharucoBoard> &board,
Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
OutputArray stdDeviationsIntrinsics, OutputArray stdDeviationsExtrinsics,
OutputArray perViewErrors, int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
/** @brief It's the same function as #calibrateCameraCharuco but without calibration error estimation.
*/
CV_EXPORTS_W double calibrateCameraCharuco(
InputArrayOfArrays charucoCorners, InputArrayOfArrays charucoIds, const Ptr<CharucoBoard> &board,
Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs = noArray(), OutputArrayOfArrays tvecs = noArray(), int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
/**
* @brief Detect ChArUco Diamond markers
*
* @param image input image necessary for corner subpixel.
* @param markerCorners list of detected marker corners from detectMarkers function.
* @param markerIds list of marker ids in markerCorners.
* @param squareMarkerLengthRate rate between square and marker length:
* squareMarkerLengthRate = squareLength/markerLength. The real units are not necessary.
* @param diamondCorners output list of detected diamond corners (4 corners per diamond). The order
* is the same than in marker corners: top left, top right, bottom right and bottom left. Similar
* format than the corners returned by detectMarkers (e.g std::vector<std::vector<cv::Point2f> > ).
* @param diamondIds ids of the diamonds in diamondCorners. The id of each diamond is in fact of
* type Vec4i, so each diamond has 4 ids, which are the ids of the aruco markers composing the
* diamond.
* @param cameraMatrix Optional camera calibration matrix.
* @param distCoeffs Optional camera distortion coefficients.
*
* This function detects Diamond markers from the previous detected ArUco markers. The diamonds
* are returned in the diamondCorners and diamondIds parameters. If camera calibration parameters
* are provided, the diamond search is based on reprojection. If not, diamond search is based on
* homography. Homography is faster than reprojection but can slightly reduce the detection rate.
*/
CV_EXPORTS_W void detectCharucoDiamond(InputArray image, InputArrayOfArrays markerCorners,
InputArray markerIds, float squareMarkerLengthRate,
OutputArrayOfArrays diamondCorners, OutputArray diamondIds,
InputArray cameraMatrix = noArray(),
InputArray distCoeffs = noArray());
/**
* @brief Draw a set of detected ChArUco Diamond markers
*
* @param image input/output image. It must have 1 or 3 channels. The number of channels is not
* altered.
* @param diamondCorners positions of diamond corners in the same format returned by
* detectCharucoDiamond(). (e.g std::vector<std::vector<cv::Point2f> > ). For N detected markers,
* the dimensions of this array should be Nx4. The order of the corners should be clockwise.
* @param diamondIds vector of identifiers for diamonds in diamondCorners, in the same format
* returned by detectCharucoDiamond() (e.g. std::vector<Vec4i>).
* Optional, if not provided, ids are not painted.
* @param borderColor color of marker borders. Rest of colors (text color and first corner color)
* are calculated based on this one.
*
* Given an array of detected diamonds, this functions draws them in the image. The marker borders
* are painted and the markers identifiers if provided.
* Useful for debugging purposes.
*/
CV_EXPORTS_W void drawDetectedDiamonds(InputOutputArray image, InputArrayOfArrays diamondCorners,
InputArray diamondIds = noArray(),
Scalar borderColor = Scalar(0, 0, 255));
/**
* @brief Draw a ChArUco Diamond marker
*
* @param dictionary dictionary of markers indicating the type of markers.
* @param ids list of 4 ids for each ArUco marker in the ChArUco marker.
* @param squareLength size of the chessboard squares in pixels.
* @param markerLength size of the markers in pixels.
* @param img output image with the marker. The size of this image will be
* 3*squareLength + 2*marginSize,.
* @param marginSize minimum margins (in pixels) of the marker in the output image
* @param borderBits width of the marker borders.
*
* This function return the image of a ChArUco marker, ready to be printed.
*/
CV_EXPORTS_W void drawCharucoDiamond(const Ptr<Dictionary> &dictionary, Vec4i ids, int squareLength,
int markerLength, OutputArray img, int marginSize = 0,
int borderBits = 1);
/**
* @brief test whether the ChArUco markers are collinear
*
* @param _board layout of ChArUco board.
* @param _charucoIds list of identifiers for each corner in charucoCorners per frame.
* @return bool value, 1 (true) if detected corners form a line, 0 (false) if they do not.
solvePnP, calibration functions will fail if the corners are collinear (true).
*
* The number of ids in charucoIDs should be <= the number of chessboard corners in the board. This functions checks whether the charuco corners are on a straight line (returns true, if so), or not (false). Axis parallel, as well as diagonal and other straight lines detected. Degenerate cases: for number of charucoIDs <= 2, the function returns true.
*/
CV_EXPORTS_W bool testCharucoCornersCollinear(const Ptr<CharucoBoard> &_board,
InputArray _charucoIds);
//! @}
}
}
#endif

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/*
By downloading, copying, installing or using the software you agree to this
license. If you do not agree to this license, do not download, install,
copy or use the software.
License Agreement
For Open Source Computer Vision Library
(3-clause BSD License)
Copyright (C) 2013, OpenCV Foundation, all rights reserved.
Third party copyrights are property of their respective owners.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the names of the copyright holders nor the names of the contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
This software is provided by the copyright holders and contributors "as is" and
any express or implied warranties, including, but not limited to, the implied
warranties of merchantability and fitness for a particular purpose are
disclaimed. In no event shall copyright holders or contributors be liable for
any direct, indirect, incidental, special, exemplary, or consequential damages
(including, but not limited to, procurement of substitute goods or services;
loss of use, data, or profits; or business interruption) however caused
and on any theory of liability, whether in contract, strict liability,
or tort (including negligence or otherwise) arising in any way out of
the use of this software, even if advised of the possibility of such damage.
*/
#ifndef __OPENCV_DICTIONARY_HPP__
#define __OPENCV_DICTIONARY_HPP__
#include <opencv2/core.hpp>
namespace cv {
namespace aruco {
//! @addtogroup aruco
//! @{
/**
* @brief Dictionary/Set of markers. It contains the inner codification
*
* bytesList contains the marker codewords where
* - bytesList.rows is the dictionary size
* - each marker is encoded using `nbytes = ceil(markerSize*markerSize/8.)`
* - each row contains all 4 rotations of the marker, so its length is `4*nbytes`
*
* `bytesList.ptr(i)[k*nbytes + j]` is then the j-th byte of i-th marker, in its k-th rotation.
*/
class CV_EXPORTS_W Dictionary {
public:
CV_PROP_RW Mat bytesList; // marker code information
CV_PROP_RW int markerSize; // number of bits per dimension
CV_PROP_RW int maxCorrectionBits; // maximum number of bits that can be corrected
/**
*/
Dictionary(const Mat &_bytesList = Mat(), int _markerSize = 0, int _maxcorr = 0);
/**
Dictionary(const Dictionary &_dictionary);
*/
/**
*/
Dictionary(const Ptr<Dictionary> &_dictionary);
/**
* @see generateCustomDictionary
*/
CV_WRAP_AS(create) static Ptr<Dictionary> create(int nMarkers, int markerSize, int randomSeed=0);
/**
* @see generateCustomDictionary
*/
CV_WRAP_AS(create_from) static Ptr<Dictionary> create(int nMarkers, int markerSize,
const Ptr<Dictionary> &baseDictionary, int randomSeed=0);
/**
* @see getPredefinedDictionary
*/
CV_WRAP static Ptr<Dictionary> get(int dict);
/**
* @brief Given a matrix of bits. Returns whether if marker is identified or not.
* It returns by reference the correct id (if any) and the correct rotation
*/
bool identify(const Mat &onlyBits, int &idx, int &rotation, double maxCorrectionRate) const;
/**
* @brief Returns the distance of the input bits to the specific id. If allRotations is true,
* the four posible bits rotation are considered
*/
int getDistanceToId(InputArray bits, int id, bool allRotations = true) const;
/**
* @brief Draw a canonical marker image
*/
CV_WRAP void drawMarker(int id, int sidePixels, OutputArray _img, int borderBits = 1) const;
/**
* @brief Transform matrix of bits to list of bytes in the 4 rotations
*/
CV_WRAP static Mat getByteListFromBits(const Mat &bits);
/**
* @brief Transform list of bytes to matrix of bits
*/
CV_WRAP static Mat getBitsFromByteList(const Mat &byteList, int markerSize);
};
/**
* @brief Predefined markers dictionaries/sets
* Each dictionary indicates the number of bits and the number of markers contained
* - DICT_ARUCO_ORIGINAL: standard ArUco Library Markers. 1024 markers, 5x5 bits, 0 minimum
distance
*/
enum PREDEFINED_DICTIONARY_NAME {
DICT_4X4_50 = 0,
DICT_4X4_100,
DICT_4X4_250,
DICT_4X4_1000,
DICT_5X5_50,
DICT_5X5_100,
DICT_5X5_250,
DICT_5X5_1000,
DICT_6X6_50,
DICT_6X6_100,
DICT_6X6_250,
DICT_6X6_1000,
DICT_7X7_50,
DICT_7X7_100,
DICT_7X7_250,
DICT_7X7_1000,
DICT_ARUCO_ORIGINAL,
DICT_APRILTAG_16h5, ///< 4x4 bits, minimum hamming distance between any two codes = 5, 30 codes
DICT_APRILTAG_25h9, ///< 5x5 bits, minimum hamming distance between any two codes = 9, 35 codes
DICT_APRILTAG_36h10, ///< 6x6 bits, minimum hamming distance between any two codes = 10, 2320 codes
DICT_APRILTAG_36h11 ///< 6x6 bits, minimum hamming distance between any two codes = 11, 587 codes
};
/**
* @brief Returns one of the predefined dictionaries defined in PREDEFINED_DICTIONARY_NAME
*/
CV_EXPORTS Ptr<Dictionary> getPredefinedDictionary(PREDEFINED_DICTIONARY_NAME name);
/**
* @brief Returns one of the predefined dictionaries referenced by DICT_*.
*/
CV_EXPORTS_W Ptr<Dictionary> getPredefinedDictionary(int dict);
/**
* @see generateCustomDictionary
*/
CV_EXPORTS_AS(custom_dictionary) Ptr<Dictionary> generateCustomDictionary(
int nMarkers,
int markerSize,
int randomSeed=0);
/**
* @brief Generates a new customizable marker dictionary
*
* @param nMarkers number of markers in the dictionary
* @param markerSize number of bits per dimension of each markers
* @param baseDictionary Include the markers in this dictionary at the beginning (optional)
* @param randomSeed a user supplied seed for theRNG()
*
* This function creates a new dictionary composed by nMarkers markers and each markers composed
* by markerSize x markerSize bits. If baseDictionary is provided, its markers are directly
* included and the rest are generated based on them. If the size of baseDictionary is higher
* than nMarkers, only the first nMarkers in baseDictionary are taken and no new marker is added.
*/
CV_EXPORTS_AS(custom_dictionary_from) Ptr<Dictionary> generateCustomDictionary(
int nMarkers,
int markerSize,
const Ptr<Dictionary> &baseDictionary,
int randomSeed=0);
//! @}
}
}
#endif

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// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
// Copyright (c) 2020-2021 darkliang wangberlinT Certseeds
#ifndef __OPENCV_BARCODE_HPP__
#define __OPENCV_BARCODE_HPP__
#include <opencv2/core.hpp>
#include <ostream>
/** @defgroup barcode Barcode detecting and decoding methods
*/
namespace cv {
namespace barcode {
//! @addtogroup barcode
//! @{
enum BarcodeType
{
NONE, EAN_8, EAN_13, UPC_A, UPC_E, UPC_EAN_EXTENSION
};
static inline std::ostream &operator<<(std::ostream &out, const BarcodeType &barcode_type)
{
switch (barcode_type)
{
case BarcodeType::EAN_8:
out << "EAN_8";
break;
case BarcodeType::EAN_13:
out << "EAN_13";
break;
case BarcodeType::UPC_E:
out << "UPC_E";
break;
case BarcodeType::UPC_A:
out << "UPC_A";
break;
case BarcodeType::UPC_EAN_EXTENSION:
out << "UPC_EAN_EXTENSION";
break;
default:
out << "NONE";
}
return out;
}
class CV_EXPORTS_W BarcodeDetector
{
public:
/**
* @brief Initialize the BarcodeDetector.
* @param prototxt_path prototxt file path for the super resolution model
* @param model_path model file path for the super resolution model
*/
CV_WRAP BarcodeDetector(const std::string &prototxt_path = "", const std::string &model_path = "");
~BarcodeDetector();
/** @brief Detects Barcode in image and returns the rectangle(s) containing the code.
*
* @param img grayscale or color (BGR) image containing (or not) Barcode.
* @param points Output vector of vector of vertices of the minimum-area rotated rectangle containing the codes.
* For N detected barcodes, the dimensions of this array should be [N][4].
* Order of four points in vector< Point2f> is bottomLeft, topLeft, topRight, bottomRight.
*/
CV_WRAP bool detect(InputArray img, OutputArray points) const;
/** @brief Decodes barcode in image once it's found by the detect() method.
*
* @param img grayscale or color (BGR) image containing bar code.
* @param points vector of rotated rectangle vertices found by detect() method (or some other algorithm).
* For N detected barcodes, the dimensions of this array should be [N][4].
* Order of four points in vector<Point2f> is bottomLeft, topLeft, topRight, bottomRight.
* @param decoded_info UTF8-encoded output vector of string or empty vector of string if the codes cannot be decoded.
* @param decoded_type vector of BarcodeType, specifies the type of these barcodes
*/
CV_WRAP bool decode(InputArray img, InputArray points, CV_OUT std::vector<std::string> &decoded_info, CV_OUT
std::vector<BarcodeType> &decoded_type) const;
/** @brief Both detects and decodes barcode
* @param img grayscale or color (BGR) image containing barcode.
* @param decoded_info UTF8-encoded output vector of string(s) or empty vector of string if the codes cannot be decoded.
* @param decoded_type vector of BarcodeType, specifies the type of these barcodes
* @param points optional output vector of vertices of the found barcode rectangle. Will be empty if not found.
*/
CV_WRAP bool detectAndDecode(InputArray img, CV_OUT std::vector<std::string> &decoded_info, CV_OUT
std::vector<BarcodeType> &decoded_type, OutputArray points = noArray()) const;
protected:
struct Impl;
Ptr<Impl> p;
};
//! @}
}
} // cv::barcode::
#endif //__OPENCV_BARCODE_HPP__

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/*
By downloading, copying, installing or using the software you agree to this
license. If you do not agree to this license, do not download, install,
copy or use the software.
License Agreement
For Open Source Computer Vision Library
(3-clause BSD License)
Copyright (C) 2013, OpenCV Foundation, all rights reserved.
Third party copyrights are property of their respective owners.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
* Redistributions of source code must retain the above copyright notice,
this list of conditions and the following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice,
this list of conditions and the following disclaimer in the documentation
and/or other materials provided with the distribution.
* Neither the names of the copyright holders nor the names of the contributors
may be used to endorse or promote products derived from this software
without specific prior written permission.
This software is provided by the copyright holders and contributors "as is" and
any express or implied warranties, including, but not limited to, the implied
warranties of merchantability and fitness for a particular purpose are
disclaimed. In no event shall copyright holders or contributors be liable for
any direct, indirect, incidental, special, exemplary, or consequential damages
(including, but not limited to, procurement of substitute goods or services;
loss of use, data, or profits; or business interruption) however caused
and on any theory of liability, whether in contract, strict liability,
or tort (including negligence or otherwise) arising in any way out of
the use of this software, even if advised of the possibility of such damage.
*/
#ifndef __OPENCV_BGSEGM_HPP__
#define __OPENCV_BGSEGM_HPP__
#include "opencv2/video.hpp"
#ifdef __cplusplus
/** @defgroup bgsegm Improved Background-Foreground Segmentation Methods
*/
namespace cv
{
namespace bgsegm
{
//! @addtogroup bgsegm
//! @{
/** @brief Gaussian Mixture-based Background/Foreground Segmentation Algorithm.
The class implements the algorithm described in @cite KB2001 .
*/
class CV_EXPORTS_W BackgroundSubtractorMOG : public BackgroundSubtractor
{
public:
CV_WRAP virtual int getHistory() const = 0;
CV_WRAP virtual void setHistory(int nframes) = 0;
CV_WRAP virtual int getNMixtures() const = 0;
CV_WRAP virtual void setNMixtures(int nmix) = 0;
CV_WRAP virtual double getBackgroundRatio() const = 0;
CV_WRAP virtual void setBackgroundRatio(double backgroundRatio) = 0;
CV_WRAP virtual double getNoiseSigma() const = 0;
CV_WRAP virtual void setNoiseSigma(double noiseSigma) = 0;
};
/** @brief Creates mixture-of-gaussian background subtractor
@param history Length of the history.
@param nmixtures Number of Gaussian mixtures.
@param backgroundRatio Background ratio.
@param noiseSigma Noise strength (standard deviation of the brightness or each color channel). 0
means some automatic value.
*/
CV_EXPORTS_W Ptr<BackgroundSubtractorMOG>
createBackgroundSubtractorMOG(int history=200, int nmixtures=5,
double backgroundRatio=0.7, double noiseSigma=0);
/** @brief Background Subtractor module based on the algorithm given in @cite Gold2012 .
Takes a series of images and returns a sequence of mask (8UC1)
images of the same size, where 255 indicates Foreground and 0 represents Background.
This class implements an algorithm described in "Visual Tracking of Human Visitors under
Variable-Lighting Conditions for a Responsive Audio Art Installation," A. Godbehere,
A. Matsukawa, K. Goldberg, American Control Conference, Montreal, June 2012.
*/
class CV_EXPORTS_W BackgroundSubtractorGMG : public BackgroundSubtractor
{
public:
/** @brief Returns total number of distinct colors to maintain in histogram.
*/
CV_WRAP virtual int getMaxFeatures() const = 0;
/** @brief Sets total number of distinct colors to maintain in histogram.
*/
CV_WRAP virtual void setMaxFeatures(int maxFeatures) = 0;
/** @brief Returns the learning rate of the algorithm.
It lies between 0.0 and 1.0. It determines how quickly features are "forgotten" from
histograms.
*/
CV_WRAP virtual double getDefaultLearningRate() const = 0;
/** @brief Sets the learning rate of the algorithm.
*/
CV_WRAP virtual void setDefaultLearningRate(double lr) = 0;
/** @brief Returns the number of frames used to initialize background model.
*/
CV_WRAP virtual int getNumFrames() const = 0;
/** @brief Sets the number of frames used to initialize background model.
*/
CV_WRAP virtual void setNumFrames(int nframes) = 0;
/** @brief Returns the parameter used for quantization of color-space.
It is the number of discrete levels in each channel to be used in histograms.
*/
CV_WRAP virtual int getQuantizationLevels() const = 0;
/** @brief Sets the parameter used for quantization of color-space
*/
CV_WRAP virtual void setQuantizationLevels(int nlevels) = 0;
/** @brief Returns the prior probability that each individual pixel is a background pixel.
*/
CV_WRAP virtual double getBackgroundPrior() const = 0;
/** @brief Sets the prior probability that each individual pixel is a background pixel.
*/
CV_WRAP virtual void setBackgroundPrior(double bgprior) = 0;
/** @brief Returns the kernel radius used for morphological operations
*/
CV_WRAP virtual int getSmoothingRadius() const = 0;
/** @brief Sets the kernel radius used for morphological operations
*/
CV_WRAP virtual void setSmoothingRadius(int radius) = 0;
/** @brief Returns the value of decision threshold.
Decision value is the value above which pixel is determined to be FG.
*/
CV_WRAP virtual double getDecisionThreshold() const = 0;
/** @brief Sets the value of decision threshold.
*/
CV_WRAP virtual void setDecisionThreshold(double thresh) = 0;
/** @brief Returns the status of background model update
*/
CV_WRAP virtual bool getUpdateBackgroundModel() const = 0;
/** @brief Sets the status of background model update
*/
CV_WRAP virtual void setUpdateBackgroundModel(bool update) = 0;
/** @brief Returns the minimum value taken on by pixels in image sequence. Usually 0.
*/
CV_WRAP virtual double getMinVal() const = 0;
/** @brief Sets the minimum value taken on by pixels in image sequence.
*/
CV_WRAP virtual void setMinVal(double val) = 0;
/** @brief Returns the maximum value taken on by pixels in image sequence. e.g. 1.0 or 255.
*/
CV_WRAP virtual double getMaxVal() const = 0;
/** @brief Sets the maximum value taken on by pixels in image sequence.
*/
CV_WRAP virtual void setMaxVal(double val) = 0;
};
/** @brief Creates a GMG Background Subtractor
@param initializationFrames number of frames used to initialize the background models.
@param decisionThreshold Threshold value, above which it is marked foreground, else background.
*/
CV_EXPORTS_W Ptr<BackgroundSubtractorGMG> createBackgroundSubtractorGMG(int initializationFrames=120,
double decisionThreshold=0.8);
/** @brief Background subtraction based on counting.
About as fast as MOG2 on a high end system.
More than twice faster than MOG2 on cheap hardware (benchmarked on Raspberry Pi3).
%Algorithm by Sagi Zeevi ( https://github.com/sagi-z/BackgroundSubtractorCNT )
*/
class CV_EXPORTS_W BackgroundSubtractorCNT : public BackgroundSubtractor
{
public:
// BackgroundSubtractor interface
CV_WRAP virtual void apply(InputArray image, OutputArray fgmask, double learningRate=-1) CV_OVERRIDE = 0;
CV_WRAP virtual void getBackgroundImage(OutputArray backgroundImage) const CV_OVERRIDE = 0;
/** @brief Returns number of frames with same pixel color to consider stable.
*/
CV_WRAP virtual int getMinPixelStability() const = 0;
/** @brief Sets the number of frames with same pixel color to consider stable.
*/
CV_WRAP virtual void setMinPixelStability(int value) = 0;
/** @brief Returns maximum allowed credit for a pixel in history.
*/
CV_WRAP virtual int getMaxPixelStability() const = 0;
/** @brief Sets the maximum allowed credit for a pixel in history.
*/
CV_WRAP virtual void setMaxPixelStability(int value) = 0;
/** @brief Returns if we're giving a pixel credit for being stable for a long time.
*/
CV_WRAP virtual bool getUseHistory() const = 0;
/** @brief Sets if we're giving a pixel credit for being stable for a long time.
*/
CV_WRAP virtual void setUseHistory(bool value) = 0;
/** @brief Returns if we're parallelizing the algorithm.
*/
CV_WRAP virtual bool getIsParallel() const = 0;
/** @brief Sets if we're parallelizing the algorithm.
*/
CV_WRAP virtual void setIsParallel(bool value) = 0;
};
/** @brief Creates a CNT Background Subtractor
@param minPixelStability number of frames with same pixel color to consider stable
@param useHistory determines if we're giving a pixel credit for being stable for a long time
@param maxPixelStability maximum allowed credit for a pixel in history
@param isParallel determines if we're parallelizing the algorithm
*/
CV_EXPORTS_W Ptr<BackgroundSubtractorCNT>
createBackgroundSubtractorCNT(int minPixelStability = 15,
bool useHistory = true,
int maxPixelStability = 15*60,
bool isParallel = true);
enum LSBPCameraMotionCompensation {
LSBP_CAMERA_MOTION_COMPENSATION_NONE = 0,
LSBP_CAMERA_MOTION_COMPENSATION_LK
};
/** @brief Implementation of the different yet better algorithm which is called GSOC, as it was implemented during GSOC and was not originated from any paper.
This algorithm demonstrates better performance on CDNET 2014 dataset compared to other algorithms in OpenCV.
*/
class CV_EXPORTS_W BackgroundSubtractorGSOC : public BackgroundSubtractor
{
public:
// BackgroundSubtractor interface
CV_WRAP virtual void apply(InputArray image, OutputArray fgmask, double learningRate=-1) CV_OVERRIDE = 0;
CV_WRAP virtual void getBackgroundImage(OutputArray backgroundImage) const CV_OVERRIDE = 0;
};
/** @brief Background Subtraction using Local SVD Binary Pattern. More details about the algorithm can be found at @cite LGuo2016
*/
class CV_EXPORTS_W BackgroundSubtractorLSBP : public BackgroundSubtractor
{
public:
// BackgroundSubtractor interface
CV_WRAP virtual void apply(InputArray image, OutputArray fgmask, double learningRate=-1) CV_OVERRIDE = 0;
CV_WRAP virtual void getBackgroundImage(OutputArray backgroundImage) const CV_OVERRIDE = 0;
};
/** @brief This is for calculation of the LSBP descriptors.
*/
class CV_EXPORTS_W BackgroundSubtractorLSBPDesc
{
public:
static void calcLocalSVDValues(OutputArray localSVDValues, const Mat& frame);
static void computeFromLocalSVDValues(OutputArray desc, const Mat& localSVDValues, const Point2i* LSBPSamplePoints);
static void compute(OutputArray desc, const Mat& frame, const Point2i* LSBPSamplePoints);
};
/** @brief Creates an instance of BackgroundSubtractorGSOC algorithm.
Implementation of the different yet better algorithm which is called GSOC, as it was implemented during GSOC and was not originated from any paper.
@param mc Whether to use camera motion compensation.
@param nSamples Number of samples to maintain at each point of the frame.
@param replaceRate Probability of replacing the old sample - how fast the model will update itself.
@param propagationRate Probability of propagating to neighbors.
@param hitsThreshold How many positives the sample must get before it will be considered as a possible replacement.
@param alpha Scale coefficient for threshold.
@param beta Bias coefficient for threshold.
@param blinkingSupressionDecay Blinking supression decay factor.
@param blinkingSupressionMultiplier Blinking supression multiplier.
@param noiseRemovalThresholdFacBG Strength of the noise removal for background points.
@param noiseRemovalThresholdFacFG Strength of the noise removal for foreground points.
*/
CV_EXPORTS_W Ptr<BackgroundSubtractorGSOC> createBackgroundSubtractorGSOC(int mc = LSBP_CAMERA_MOTION_COMPENSATION_NONE, int nSamples = 20, float replaceRate = 0.003f, float propagationRate = 0.01f, int hitsThreshold = 32, float alpha = 0.01f, float beta = 0.0022f, float blinkingSupressionDecay = 0.1f, float blinkingSupressionMultiplier = 0.1f, float noiseRemovalThresholdFacBG = 0.0004f, float noiseRemovalThresholdFacFG = 0.0008f);
/** @brief Creates an instance of BackgroundSubtractorLSBP algorithm.
Background Subtraction using Local SVD Binary Pattern. More details about the algorithm can be found at @cite LGuo2016
@param mc Whether to use camera motion compensation.
@param nSamples Number of samples to maintain at each point of the frame.
@param LSBPRadius LSBP descriptor radius.
@param Tlower Lower bound for T-values. See @cite LGuo2016 for details.
@param Tupper Upper bound for T-values. See @cite LGuo2016 for details.
@param Tinc Increase step for T-values. See @cite LGuo2016 for details.
@param Tdec Decrease step for T-values. See @cite LGuo2016 for details.
@param Rscale Scale coefficient for threshold values.
@param Rincdec Increase/Decrease step for threshold values.
@param noiseRemovalThresholdFacBG Strength of the noise removal for background points.
@param noiseRemovalThresholdFacFG Strength of the noise removal for foreground points.
@param LSBPthreshold Threshold for LSBP binary string.
@param minCount Minimal number of matches for sample to be considered as foreground.
*/
CV_EXPORTS_W Ptr<BackgroundSubtractorLSBP> createBackgroundSubtractorLSBP(int mc = LSBP_CAMERA_MOTION_COMPENSATION_NONE, int nSamples = 20, int LSBPRadius = 16, float Tlower = 2.0f, float Tupper = 32.0f, float Tinc = 1.0f, float Tdec = 0.05f, float Rscale = 10.0f, float Rincdec = 0.005f, float noiseRemovalThresholdFacBG = 0.0004f, float noiseRemovalThresholdFacFG = 0.0008f, int LSBPthreshold = 8, int minCount = 2);
/** @brief Synthetic frame sequence generator for testing background subtraction algorithms.
It will generate the moving object on top of the background.
It will apply some distortion to the background to make the test more complex.
*/
class CV_EXPORTS_W SyntheticSequenceGenerator : public Algorithm
{
private:
const double amplitude;
const double wavelength;
const double wavespeed;
const double objspeed;
unsigned timeStep;
Point2d pos;
Point2d dir;
Mat background;
Mat object;
RNG rng;
public:
/** @brief Creates an instance of SyntheticSequenceGenerator.
@param background Background image for object.
@param object Object image which will move slowly over the background.
@param amplitude Amplitude of wave distortion applied to background.
@param wavelength Length of waves in distortion applied to background.
@param wavespeed How fast waves will move.
@param objspeed How fast object will fly over background.
*/
CV_WRAP SyntheticSequenceGenerator(InputArray background, InputArray object, double amplitude, double wavelength, double wavespeed, double objspeed);
/** @brief Obtain the next frame in the sequence.
@param frame Output frame.
@param gtMask Output ground-truth (reference) segmentation mask object/background.
*/
CV_WRAP void getNextFrame(OutputArray frame, OutputArray gtMask);
};
/** @brief Creates an instance of SyntheticSequenceGenerator.
@param background Background image for object.
@param object Object image which will move slowly over the background.
@param amplitude Amplitude of wave distortion applied to background.
@param wavelength Length of waves in distortion applied to background.
@param wavespeed How fast waves will move.
@param objspeed How fast object will fly over background.
*/
CV_EXPORTS_W Ptr<SyntheticSequenceGenerator> createSyntheticSequenceGenerator(InputArray background, InputArray object, double amplitude = 2.0, double wavelength = 20.0, double wavespeed = 0.2, double objspeed = 6.0);
//! @}
}
}
#endif
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_BIOINSPIRED_HPP__
#define __OPENCV_BIOINSPIRED_HPP__
#include "opencv2/core.hpp"
#include "opencv2/bioinspired/retina.hpp"
#include "opencv2/bioinspired/retinafasttonemapping.hpp"
#include "opencv2/bioinspired/transientareassegmentationmodule.hpp"
/** @defgroup bioinspired Biologically inspired vision models and derivated tools
The module provides biological visual systems models (human visual system and others). It also
provides derivated objects that take advantage of those bio-inspired models.
@ref bioinspired_retina
*/
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifdef __OPENCV_BUILD
#error this is a compatibility header which should not be used inside the OpenCV library
#endif
#include "opencv2/bioinspired.hpp"

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/*#******************************************************************************
** IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
**
** By downloading, copying, installing or using the software you agree to this license.
** If you do not agree to this license, do not download, install,
** copy or use the software.
**
**
** bioinspired : interfaces allowing OpenCV users to integrate Human Vision System models. Presented models originate from Jeanny Herault's original research and have been reused and adapted by the author&collaborators for computed vision applications since his thesis with Alice Caplier at Gipsa-Lab.
** Use: extract still images & image sequences features, from contours details to motion spatio-temporal features, etc. for high level visual scene analysis. Also contribute to image enhancement/compression such as tone mapping.
**
** Maintainers : Listic lab (code author current affiliation & applications) and Gipsa Lab (original research origins & applications)
**
** Creation - enhancement process 2007-2015
** Author: Alexandre Benoit (benoit.alexandre.vision@gmail.com), LISTIC lab, Annecy le vieux, France
**
** Theses algorithm have been developped by Alexandre BENOIT since his thesis with Alice Caplier at Gipsa-Lab (www.gipsa-lab.inpg.fr) and the research he pursues at LISTIC Lab (www.listic.univ-savoie.fr).
** Refer to the following research paper for more information:
** Benoit A., Caplier A., Durette B., Herault, J., "USING HUMAN VISUAL SYSTEM MODELING FOR BIO-INSPIRED LOW LEVEL IMAGE PROCESSING", Elsevier, Computer Vision and Image Understanding 114 (2010), pp. 758-773, DOI: http://dx.doi.org/10.1016/j.cviu.2010.01.011
** This work have been carried out thanks to Jeanny Herault who's research and great discussions are the basis of all this work, please take a look at his book:
** Vision: Images, Signals and Neural Networks: Models of Neural Processing in Visual Perception (Progress in Neural Processing),By: Jeanny Herault, ISBN: 9814273686. WAPI (Tower ID): 113266891.
**
** The retina filter includes the research contributions of phd/research collegues from which code has been redrawn by the author :
** _take a look at the retinacolor.hpp module to discover Brice Chaix de Lavarene color mosaicing/demosaicing and the reference paper:
** ====> B. Chaix de Lavarene, D. Alleysson, B. Durette, J. Herault (2007). "Efficient demosaicing through recursive filtering", IEEE International Conference on Image Processing ICIP 2007
** _take a look at imagelogpolprojection.hpp to discover retina spatial log sampling which originates from Barthelemy Durette phd with Jeanny Herault. A Retina / V1 cortex projection is also proposed and originates from Jeanny's discussions.
** ====> more informations in the above cited Jeanny Heraults's book.
**
** License Agreement
** For Open Source Computer Vision Library
**
** Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
** Copyright (C) 2008-2011, Willow Garage Inc., all rights reserved.
**
** For Human Visual System tools (bioinspired)
** Copyright (C) 2007-2015, LISTIC Lab, Annecy le Vieux and GIPSA Lab, Grenoble, France, all rights reserved.
**
** Third party copyrights are property of their respective owners.
**
** Redistribution and use in source and binary forms, with or without modification,
** are permitted provided that the following conditions are met:
**
** * Redistributions of source code must retain the above copyright notice,
** this list of conditions and the following disclaimer.
**
** * Redistributions in binary form must reproduce the above copyright notice,
** this list of conditions and the following disclaimer in the documentation
** and/or other materials provided with the distribution.
**
** * The name of the copyright holders may not be used to endorse or promote products
** derived from this software without specific prior written permission.
**
** This software is provided by the copyright holders and contributors "as is" and
** any express or implied warranties, including, but not limited to, the implied
** warranties of merchantability and fitness for a particular purpose are disclaimed.
** In no event shall the Intel Corporation or contributors be liable for any direct,
** indirect, incidental, special, exemplary, or consequential damages
** (including, but not limited to, procurement of substitute goods or services;
** loss of use, data, or profits; or business interruption) however caused
** and on any theory of liability, whether in contract, strict liability,
** or tort (including negligence or otherwise) arising in any way out of
** the use of this software, even if advised of the possibility of such damage.
*******************************************************************************/
#ifndef __OPENCV_BIOINSPIRED_RETINA_HPP__
#define __OPENCV_BIOINSPIRED_RETINA_HPP__
/**
@file
@date Jul 19, 2011
@author Alexandre Benoit
*/
#include "opencv2/core.hpp" // for all OpenCV core functionalities access, including cv::Exception support
namespace cv{
namespace bioinspired{
//! @addtogroup bioinspired
//! @{
enum {
RETINA_COLOR_RANDOM, //!< each pixel position is either R, G or B in a random choice
RETINA_COLOR_DIAGONAL,//!< color sampling is RGBRGBRGB..., line 2 BRGBRGBRG..., line 3, GBRGBRGBR...
RETINA_COLOR_BAYER//!< standard bayer sampling
};
/** @brief retina model parameters structure
For better clarity, check explenations on the comments of methods : setupOPLandIPLParvoChannel and setupIPLMagnoChannel
Here is the default configuration file of the retina module. It gives results such as the first
retina output shown on the top of this page.
@code{xml}
<?xml version="1.0"?>
<opencv_storage>
<OPLandIPLparvo>
<colorMode>1</colorMode>
<normaliseOutput>1</normaliseOutput>
<photoreceptorsLocalAdaptationSensitivity>7.5e-01</photoreceptorsLocalAdaptationSensitivity>
<photoreceptorsTemporalConstant>9.0e-01</photoreceptorsTemporalConstant>
<photoreceptorsSpatialConstant>5.3e-01</photoreceptorsSpatialConstant>
<horizontalCellsGain>0.01</horizontalCellsGain>
<hcellsTemporalConstant>0.5</hcellsTemporalConstant>
<hcellsSpatialConstant>7.</hcellsSpatialConstant>
<ganglionCellsSensitivity>7.5e-01</ganglionCellsSensitivity></OPLandIPLparvo>
<IPLmagno>
<normaliseOutput>1</normaliseOutput>
<parasolCells_beta>0.</parasolCells_beta>
<parasolCells_tau>0.</parasolCells_tau>
<parasolCells_k>7.</parasolCells_k>
<amacrinCellsTemporalCutFrequency>2.0e+00</amacrinCellsTemporalCutFrequency>
<V0CompressionParameter>9.5e-01</V0CompressionParameter>
<localAdaptintegration_tau>0.</localAdaptintegration_tau>
<localAdaptintegration_k>7.</localAdaptintegration_k></IPLmagno>
</opencv_storage>
@endcode
Here is the 'realistic" setup used to obtain the second retina output shown on the top of this page.
@code{xml}
<?xml version="1.0"?>
<opencv_storage>
<OPLandIPLparvo>
<colorMode>1</colorMode>
<normaliseOutput>1</normaliseOutput>
<photoreceptorsLocalAdaptationSensitivity>8.9e-01</photoreceptorsLocalAdaptationSensitivity>
<photoreceptorsTemporalConstant>9.0e-01</photoreceptorsTemporalConstant>
<photoreceptorsSpatialConstant>5.3e-01</photoreceptorsSpatialConstant>
<horizontalCellsGain>0.3</horizontalCellsGain>
<hcellsTemporalConstant>0.5</hcellsTemporalConstant>
<hcellsSpatialConstant>7.</hcellsSpatialConstant>
<ganglionCellsSensitivity>8.9e-01</ganglionCellsSensitivity></OPLandIPLparvo>
<IPLmagno>
<normaliseOutput>1</normaliseOutput>
<parasolCells_beta>0.</parasolCells_beta>
<parasolCells_tau>0.</parasolCells_tau>
<parasolCells_k>7.</parasolCells_k>
<amacrinCellsTemporalCutFrequency>2.0e+00</amacrinCellsTemporalCutFrequency>
<V0CompressionParameter>9.5e-01</V0CompressionParameter>
<localAdaptintegration_tau>0.</localAdaptintegration_tau>
<localAdaptintegration_k>7.</localAdaptintegration_k></IPLmagno>
</opencv_storage>
@endcode
*/
struct RetinaParameters{
//! Outer Plexiform Layer (OPL) and Inner Plexiform Layer Parvocellular (IplParvo) parameters
struct OPLandIplParvoParameters{
OPLandIplParvoParameters():colorMode(true),
normaliseOutput(true),
photoreceptorsLocalAdaptationSensitivity(0.75f),
photoreceptorsTemporalConstant(0.9f),
photoreceptorsSpatialConstant(0.53f),
horizontalCellsGain(0.01f),
hcellsTemporalConstant(0.5f),
hcellsSpatialConstant(7.f),
ganglionCellsSensitivity(0.75f) { } // default setup
bool colorMode, normaliseOutput;
float photoreceptorsLocalAdaptationSensitivity, photoreceptorsTemporalConstant, photoreceptorsSpatialConstant, horizontalCellsGain, hcellsTemporalConstant, hcellsSpatialConstant, ganglionCellsSensitivity;
};
//! Inner Plexiform Layer Magnocellular channel (IplMagno)
struct IplMagnoParameters{
IplMagnoParameters():
normaliseOutput(true),
parasolCells_beta(0.f),
parasolCells_tau(0.f),
parasolCells_k(7.f),
amacrinCellsTemporalCutFrequency(2.0f),
V0CompressionParameter(0.95f),
localAdaptintegration_tau(0.f),
localAdaptintegration_k(7.f) { } // default setup
bool normaliseOutput;
float parasolCells_beta, parasolCells_tau, parasolCells_k, amacrinCellsTemporalCutFrequency, V0CompressionParameter, localAdaptintegration_tau, localAdaptintegration_k;
};
OPLandIplParvoParameters OPLandIplParvo;
IplMagnoParameters IplMagno;
};
/** @brief class which allows the Gipsa/Listic Labs model to be used with OpenCV.
This retina model allows spatio-temporal image processing (applied on still images, video sequences).
As a summary, these are the retina model properties:
- It applies a spectral whithening (mid-frequency details enhancement)
- high frequency spatio-temporal noise reduction
- low frequency luminance to be reduced (luminance range compression)
- local logarithmic luminance compression allows details to be enhanced in low light conditions
USE : this model can be used basically for spatio-temporal video effects but also for :
_using the getParvo method output matrix : texture analysiswith enhanced signal to noise ratio and enhanced details robust against input images luminance ranges
_using the getMagno method output matrix : motion analysis also with the previously cited properties
for more information, reer to the following papers :
Benoit A., Caplier A., Durette B., Herault, J., "USING HUMAN VISUAL SYSTEM MODELING FOR BIO-INSPIRED LOW LEVEL IMAGE PROCESSING", Elsevier, Computer Vision and Image Understanding 114 (2010), pp. 758-773, DOI: http://dx.doi.org/10.1016/j.cviu.2010.01.011
Vision: Images, Signals and Neural Networks: Models of Neural Processing in Visual Perception (Progress in Neural Processing),By: Jeanny Herault, ISBN: 9814273686. WAPI (Tower ID): 113266891.
The retina filter includes the research contributions of phd/research collegues from which code has been redrawn by the author :
take a look at the retinacolor.hpp module to discover Brice Chaix de Lavarene color mosaicing/demosaicing and the reference paper:
B. Chaix de Lavarene, D. Alleysson, B. Durette, J. Herault (2007). "Efficient demosaicing through recursive filtering", IEEE International Conference on Image Processing ICIP 2007
take a look at imagelogpolprojection.hpp to discover retina spatial log sampling which originates from Barthelemy Durette phd with Jeanny Herault. A Retina / V1 cortex projection is also proposed and originates from Jeanny's discussions.
more informations in the above cited Jeanny Heraults's book.
*/
class CV_EXPORTS_W Retina : public Algorithm {
public:
/** @brief Retreive retina input buffer size
@return the retina input buffer size
*/
CV_WRAP virtual Size getInputSize()=0;
/** @brief Retreive retina output buffer size that can be different from the input if a spatial log
transformation is applied
@return the retina output buffer size
*/
CV_WRAP virtual Size getOutputSize()=0;
/** @brief Try to open an XML retina parameters file to adjust current retina instance setup
- if the xml file does not exist, then default setup is applied
- warning, Exceptions are thrown if read XML file is not valid
@param retinaParameterFile the parameters filename
@param applyDefaultSetupOnFailure set to true if an error must be thrown on error
You can retrieve the current parameters structure using the method Retina::getParameters and update
it before running method Retina::setup.
*/
CV_WRAP virtual void setup(String retinaParameterFile="", const bool applyDefaultSetupOnFailure=true)=0;
/** @overload
@param fs the open Filestorage which contains retina parameters
@param applyDefaultSetupOnFailure set to true if an error must be thrown on error
*/
virtual void setup(cv::FileStorage &fs, const bool applyDefaultSetupOnFailure=true)=0;
/** @overload
@param newParameters a parameters structures updated with the new target configuration.
*/
virtual void setup(RetinaParameters newParameters)=0;
/**
@return the current parameters setup
*/
virtual RetinaParameters getParameters()=0;
/** @brief Outputs a string showing the used parameters setup
@return a string which contains formated parameters information
*/
CV_WRAP virtual const String printSetup()=0;
/** @brief Write xml/yml formated parameters information
@param fs the filename of the xml file that will be open and writen with formatted parameters
information
*/
CV_WRAP virtual void write( String fs ) const=0;
/** @overload */
virtual void write( FileStorage& fs ) const CV_OVERRIDE = 0;
/** @brief Setup the OPL and IPL parvo channels (see biologocal model)
OPL is referred as Outer Plexiform Layer of the retina, it allows the spatio-temporal filtering
which withens the spectrum and reduces spatio-temporal noise while attenuating global luminance
(low frequency energy) IPL parvo is the OPL next processing stage, it refers to a part of the
Inner Plexiform layer of the retina, it allows high contours sensitivity in foveal vision. See
reference papers for more informations.
for more informations, please have a look at the paper Benoit A., Caplier A., Durette B., Herault, J., "USING HUMAN VISUAL SYSTEM MODELING FOR BIO-INSPIRED LOW LEVEL IMAGE PROCESSING", Elsevier, Computer Vision and Image Understanding 114 (2010), pp. 758-773, DOI: http://dx.doi.org/10.1016/j.cviu.2010.01.011
@param colorMode specifies if (true) color is processed of not (false) to then processing gray
level image
@param normaliseOutput specifies if (true) output is rescaled between 0 and 255 of not (false)
@param photoreceptorsLocalAdaptationSensitivity the photoreceptors sensitivity renage is 0-1
(more log compression effect when value increases)
@param photoreceptorsTemporalConstant the time constant of the first order low pass filter of
the photoreceptors, use it to cut high temporal frequencies (noise or fast motion), unit is
frames, typical value is 1 frame
@param photoreceptorsSpatialConstant the spatial constant of the first order low pass filter of
the photoreceptors, use it to cut high spatial frequencies (noise or thick contours), unit is
pixels, typical value is 1 pixel
@param horizontalCellsGain gain of the horizontal cells network, if 0, then the mean value of
the output is zero, if the parameter is near 1, then, the luminance is not filtered and is
still reachable at the output, typicall value is 0
@param HcellsTemporalConstant the time constant of the first order low pass filter of the
horizontal cells, use it to cut low temporal frequencies (local luminance variations), unit is
frames, typical value is 1 frame, as the photoreceptors
@param HcellsSpatialConstant the spatial constant of the first order low pass filter of the
horizontal cells, use it to cut low spatial frequencies (local luminance), unit is pixels,
typical value is 5 pixel, this value is also used for local contrast computing when computing
the local contrast adaptation at the ganglion cells level (Inner Plexiform Layer parvocellular
channel model)
@param ganglionCellsSensitivity the compression strengh of the ganglion cells local adaptation
output, set a value between 0.6 and 1 for best results, a high value increases more the low
value sensitivity... and the output saturates faster, recommended value: 0.7
*/
CV_WRAP virtual void setupOPLandIPLParvoChannel(const bool colorMode=true, const bool normaliseOutput = true, const float photoreceptorsLocalAdaptationSensitivity=0.7f, const float photoreceptorsTemporalConstant=0.5f, const float photoreceptorsSpatialConstant=0.53f, const float horizontalCellsGain=0.f, const float HcellsTemporalConstant=1.f, const float HcellsSpatialConstant=7.f, const float ganglionCellsSensitivity=0.7f)=0;
/** @brief Set parameters values for the Inner Plexiform Layer (IPL) magnocellular channel
this channel processes signals output from OPL processing stage in peripheral vision, it allows
motion information enhancement. It is decorrelated from the details channel. See reference
papers for more details.
@param normaliseOutput specifies if (true) output is rescaled between 0 and 255 of not (false)
@param parasolCells_beta the low pass filter gain used for local contrast adaptation at the
IPL level of the retina (for ganglion cells local adaptation), typical value is 0
@param parasolCells_tau the low pass filter time constant used for local contrast adaptation
at the IPL level of the retina (for ganglion cells local adaptation), unit is frame, typical
value is 0 (immediate response)
@param parasolCells_k the low pass filter spatial constant used for local contrast adaptation
at the IPL level of the retina (for ganglion cells local adaptation), unit is pixels, typical
value is 5
@param amacrinCellsTemporalCutFrequency the time constant of the first order high pass fiter of
the magnocellular way (motion information channel), unit is frames, typical value is 1.2
@param V0CompressionParameter the compression strengh of the ganglion cells local adaptation
output, set a value between 0.6 and 1 for best results, a high value increases more the low
value sensitivity... and the output saturates faster, recommended value: 0.95
@param localAdaptintegration_tau specifies the temporal constant of the low pas filter
involved in the computation of the local "motion mean" for the local adaptation computation
@param localAdaptintegration_k specifies the spatial constant of the low pas filter involved
in the computation of the local "motion mean" for the local adaptation computation
*/
CV_WRAP virtual void setupIPLMagnoChannel(const bool normaliseOutput = true, const float parasolCells_beta=0.f, const float parasolCells_tau=0.f, const float parasolCells_k=7.f, const float amacrinCellsTemporalCutFrequency=1.2f, const float V0CompressionParameter=0.95f, const float localAdaptintegration_tau=0.f, const float localAdaptintegration_k=7.f)=0;
/** @brief Method which allows retina to be applied on an input image,
after run, encapsulated retina module is ready to deliver its outputs using dedicated
acccessors, see getParvo and getMagno methods
@param inputImage the input Mat image to be processed, can be gray level or BGR coded in any
format (from 8bit to 16bits)
*/
CV_WRAP virtual void run(InputArray inputImage)=0;
/** @brief Method which processes an image in the aim to correct its luminance correct
backlight problems, enhance details in shadows.
This method is designed to perform High Dynamic Range image tone mapping (compress \>8bit/pixel
images to 8bit/pixel). This is a simplified version of the Retina Parvocellular model
(simplified version of the run/getParvo methods call) since it does not include the
spatio-temporal filter modelling the Outer Plexiform Layer of the retina that performs spectral
whitening and many other stuff. However, it works great for tone mapping and in a faster way.
Check the demos and experiments section to see examples and the way to perform tone mapping
using the original retina model and the method.
@param inputImage the input image to process (should be coded in float format : CV_32F,
CV_32FC1, CV_32F_C3, CV_32F_C4, the 4th channel won't be considered).
@param outputToneMappedImage the output 8bit/channel tone mapped image (CV_8U or CV_8UC3 format).
*/
CV_WRAP virtual void applyFastToneMapping(InputArray inputImage, OutputArray outputToneMappedImage)=0;
/** @brief Accessor of the details channel of the retina (models foveal vision).
Warning, getParvoRAW methods return buffers that are not rescaled within range [0;255] while
the non RAW method allows a normalized matrix to be retrieved.
@param retinaOutput_parvo the output buffer (reallocated if necessary), format can be :
- a Mat, this output is rescaled for standard 8bits image processing use in OpenCV
- RAW methods actually return a 1D matrix (encoding is R1, R2, ... Rn, G1, G2, ..., Gn, B1,
B2, ...Bn), this output is the original retina filter model output, without any
quantification or rescaling.
@see getParvoRAW
*/
CV_WRAP virtual void getParvo(OutputArray retinaOutput_parvo)=0;
/** @brief Accessor of the details channel of the retina (models foveal vision).
@see getParvo
*/
CV_WRAP virtual void getParvoRAW(OutputArray retinaOutput_parvo)=0;
/** @brief Accessor of the motion channel of the retina (models peripheral vision).
Warning, getMagnoRAW methods return buffers that are not rescaled within range [0;255] while
the non RAW method allows a normalized matrix to be retrieved.
@param retinaOutput_magno the output buffer (reallocated if necessary), format can be :
- a Mat, this output is rescaled for standard 8bits image processing use in OpenCV
- RAW methods actually return a 1D matrix (encoding is M1, M2,... Mn), this output is the
original retina filter model output, without any quantification or rescaling.
@see getMagnoRAW
*/
CV_WRAP virtual void getMagno(OutputArray retinaOutput_magno)=0;
/** @brief Accessor of the motion channel of the retina (models peripheral vision).
@see getMagno
*/
CV_WRAP virtual void getMagnoRAW(OutputArray retinaOutput_magno)=0;
/** @overload */
CV_WRAP virtual const Mat getMagnoRAW() const=0;
/** @overload */
CV_WRAP virtual const Mat getParvoRAW() const=0;
/** @brief Activate color saturation as the final step of the color demultiplexing process -\> this
saturation is a sigmoide function applied to each channel of the demultiplexed image.
@param saturateColors boolean that activates color saturation (if true) or desactivate (if false)
@param colorSaturationValue the saturation factor : a simple factor applied on the chrominance
buffers
*/
CV_WRAP virtual void setColorSaturation(const bool saturateColors=true, const float colorSaturationValue=4.0f)=0;
/** @brief Clears all retina buffers
(equivalent to opening the eyes after a long period of eye close ;o) whatchout the temporal
transition occuring just after this method call.
*/
CV_WRAP virtual void clearBuffers()=0;
/** @brief Activate/desactivate the Magnocellular pathway processing (motion information extraction), by
default, it is activated
@param activate true if Magnocellular output should be activated, false if not... if activated,
the Magnocellular output can be retrieved using the **getMagno** methods
*/
CV_WRAP virtual void activateMovingContoursProcessing(const bool activate)=0;
/** @brief Activate/desactivate the Parvocellular pathway processing (contours information extraction), by
default, it is activated
@param activate true if Parvocellular (contours information extraction) output should be
activated, false if not... if activated, the Parvocellular output can be retrieved using the
Retina::getParvo methods
*/
CV_WRAP virtual void activateContoursProcessing(const bool activate)=0;
/** @overload */
CV_WRAP static Ptr<Retina> create(Size inputSize);
/** @brief Constructors from standardized interfaces : retreive a smart pointer to a Retina instance
@param inputSize the input frame size
@param colorMode the chosen processing mode : with or without color processing
@param colorSamplingMethod specifies which kind of color sampling will be used :
- cv::bioinspired::RETINA_COLOR_RANDOM: each pixel position is either R, G or B in a random choice
- cv::bioinspired::RETINA_COLOR_DIAGONAL: color sampling is RGBRGBRGB..., line 2 BRGBRGBRG..., line 3, GBRGBRGBR...
- cv::bioinspired::RETINA_COLOR_BAYER: standard bayer sampling
@param useRetinaLogSampling activate retina log sampling, if true, the 2 following parameters can
be used
@param reductionFactor only usefull if param useRetinaLogSampling=true, specifies the reduction
factor of the output frame (as the center (fovea) is high resolution and corners can be
underscaled, then a reduction of the output is allowed without precision leak
@param samplingStrength only usefull if param useRetinaLogSampling=true, specifies the strength of
the log scale that is applied
*/
CV_WRAP static Ptr<Retina> create(Size inputSize, const bool colorMode,
int colorSamplingMethod=RETINA_COLOR_BAYER,
const bool useRetinaLogSampling=false,
const float reductionFactor=1.0f, const float samplingStrength=10.0f);
};
//! @}
}
}
#endif /* __OPENCV_BIOINSPIRED_RETINA_HPP__ */

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/*#******************************************************************************
** IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
**
** By downloading, copying, installing or using the software you agree to this license.
** If you do not agree to this license, do not download, install,
** copy or use the software.
**
**
** bioinspired : interfaces allowing OpenCV users to integrate Human Vision System models. Presented models originate from Jeanny Herault's original research and have been reused and adapted by the author&collaborators for computed vision applications since his thesis with Alice Caplier at Gipsa-Lab.
**
** Maintainers : Listic lab (code author current affiliation & applications) and Gipsa Lab (original research origins & applications)
**
** Creation - enhancement process 2007-2013
** Author: Alexandre Benoit (benoit.alexandre.vision@gmail.com), LISTIC lab, Annecy le vieux, France
**
** Theses algorithm have been developped by Alexandre BENOIT since his thesis with Alice Caplier at Gipsa-Lab (www.gipsa-lab.inpg.fr) and the research he pursues at LISTIC Lab (www.listic.univ-savoie.fr).
** Refer to the following research paper for more information:
** Benoit A., Caplier A., Durette B., Herault, J., "USING HUMAN VISUAL SYSTEM MODELING FOR BIO-INSPIRED LOW LEVEL IMAGE PROCESSING", Elsevier, Computer Vision and Image Understanding 114 (2010), pp. 758-773, DOI: http://dx.doi.org/10.1016/j.cviu.2010.01.011
** This work have been carried out thanks to Jeanny Herault who's research and great discussions are the basis of all this work, please take a look at his book:
** Vision: Images, Signals and Neural Networks: Models of Neural Processing in Visual Perception (Progress in Neural Processing),By: Jeanny Herault, ISBN: 9814273686. WAPI (Tower ID): 113266891.
**
**
**
**
**
** This class is based on image processing tools of the author and already used within the Retina class (this is the same code as method retina::applyFastToneMapping, but in an independent class, it is ligth from a memory requirement point of view). It implements an adaptation of the efficient tone mapping algorithm propose by David Alleyson, Sabine Susstruck and Laurence Meylan's work, please cite:
** -> Meylan L., Alleysson D., and Susstrunk S., A Model of Retinal Local Adaptation for the Tone Mapping of Color Filter Array Images, Journal of Optical Society of America, A, Vol. 24, N 9, September, 1st, 2007, pp. 2807-2816
**
**
** License Agreement
** For Open Source Computer Vision Library
**
** Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
** Copyright (C) 2008-2011, Willow Garage Inc., all rights reserved.
**
** For Human Visual System tools (bioinspired)
** Copyright (C) 2007-2011, LISTIC Lab, Annecy le Vieux and GIPSA Lab, Grenoble, France, all rights reserved.
**
** Third party copyrights are property of their respective owners.
**
** Redistribution and use in source and binary forms, with or without modification,
** are permitted provided that the following conditions are met:
**
** * Redistributions of source code must retain the above copyright notice,
** this list of conditions and the following disclaimer.
**
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** this list of conditions and the following disclaimer in the documentation
** and/or other materials provided with the distribution.
**
** * The name of the copyright holders may not be used to endorse or promote products
** derived from this software without specific prior written permission.
**
** This software is provided by the copyright holders and contributors "as is" and
** any express or implied warranties, including, but not limited to, the implied
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*******************************************************************************/
#ifndef __OPENCV_BIOINSPIRED_RETINAFASTTONEMAPPING_HPP__
#define __OPENCV_BIOINSPIRED_RETINAFASTTONEMAPPING_HPP__
/**
@file
@date May 26, 2013
@author Alexandre Benoit
*/
#include "opencv2/core.hpp" // for all OpenCV core functionalities access, including cv::Exception support
namespace cv{
namespace bioinspired{
//! @addtogroup bioinspired
//! @{
/** @brief a wrapper class which allows the tone mapping algorithm of Meylan&al(2007) to be used with OpenCV.
This algorithm is already implemented in thre Retina class (retina::applyFastToneMapping) but used it does not require all the retina model to be allocated. This allows a light memory use for low memory devices (smartphones, etc.
As a summary, these are the model properties:
- 2 stages of local luminance adaptation with a different local neighborhood for each.
- first stage models the retina photorecetors local luminance adaptation
- second stage models th ganglion cells local information adaptation
- compared to the initial publication, this class uses spatio-temporal low pass filters instead of spatial only filters.
this can help noise robustness and temporal stability for video sequence use cases.
for more information, read to the following papers :
Meylan L., Alleysson D., and Susstrunk S., A Model of Retinal Local Adaptation for the Tone Mapping of Color Filter Array Images, Journal of Optical Society of America, A, Vol. 24, N 9, September, 1st, 2007, pp. 2807-2816Benoit A., Caplier A., Durette B., Herault, J., "USING HUMAN VISUAL SYSTEM MODELING FOR BIO-INSPIRED LOW LEVEL IMAGE PROCESSING", Elsevier, Computer Vision and Image Understanding 114 (2010), pp. 758-773, DOI: http://dx.doi.org/10.1016/j.cviu.2010.01.011
regarding spatio-temporal filter and the bigger retina model :
Vision: Images, Signals and Neural Networks: Models of Neural Processing in Visual Perception (Progress in Neural Processing),By: Jeanny Herault, ISBN: 9814273686. WAPI (Tower ID): 113266891.
*/
class CV_EXPORTS_W RetinaFastToneMapping : public Algorithm
{
public:
/** @brief applies a luminance correction (initially High Dynamic Range (HDR) tone mapping)
using only the 2 local adaptation stages of the retina parvocellular channel : photoreceptors
level and ganlion cells level. Spatio temporal filtering is applied but limited to temporal
smoothing and eventually high frequencies attenuation. This is a lighter method than the one
available using the regular retina::run method. It is then faster but it does not include
complete temporal filtering nor retina spectral whitening. Then, it can have a more limited
effect on images with a very high dynamic range. This is an adptation of the original still
image HDR tone mapping algorithm of David Alleyson, Sabine Susstruck and Laurence Meylan's
work, please cite: -> Meylan L., Alleysson D., and Susstrunk S., A Model of Retinal Local
Adaptation for the Tone Mapping of Color Filter Array Images, Journal of Optical Society of
America, A, Vol. 24, N 9, September, 1st, 2007, pp. 2807-2816
@param inputImage the input image to process RGB or gray levels
@param outputToneMappedImage the output tone mapped image
*/
CV_WRAP virtual void applyFastToneMapping(InputArray inputImage, OutputArray outputToneMappedImage)=0;
/** @brief updates tone mapping behaviors by adjusing the local luminance computation area
@param photoreceptorsNeighborhoodRadius the first stage local adaptation area
@param ganglioncellsNeighborhoodRadius the second stage local adaptation area
@param meanLuminanceModulatorK the factor applied to modulate the meanLuminance information
(default is 1, see reference paper)
*/
CV_WRAP virtual void setup(const float photoreceptorsNeighborhoodRadius=3.f, const float ganglioncellsNeighborhoodRadius=1.f, const float meanLuminanceModulatorK=1.f)=0;
CV_WRAP static Ptr<RetinaFastToneMapping> create(Size inputSize);
};
//! @}
}
}
#endif /* __OPENCV_BIOINSPIRED_RETINAFASTTONEMAPPING_HPP__ */

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/*#******************************************************************************
** IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
**
** By downloading, copying, installing or using the software you agree to this license.
** If you do not agree to this license, do not download, install,
** copy or use the software.
**
**
** bioinspired : interfaces allowing OpenCV users to integrate Human Vision System models.
** TransientAreasSegmentationModule Use: extract areas that present spatio-temporal changes.
** => It should be used at the output of the cv::bioinspired::Retina::getMagnoRAW() output that enhances spatio-temporal changes
**
** Maintainers : Listic lab (code author current affiliation & applications)
**
** Creation - enhancement process 2007-2015
** Author: Alexandre Benoit (benoit.alexandre.vision@gmail.com), LISTIC lab, Annecy le vieux, France
**
** Theses algorithm have been developped by Alexandre BENOIT since his thesis with Alice Caplier at Gipsa-Lab (www.gipsa-lab.inpg.fr) and the research he pursues at LISTIC Lab (www.listic.univ-savoie.fr).
** Refer to the following research paper for more information:
** Strat, S.T.; Benoit, A.; Lambert, P., "Retina enhanced bag of words descriptors for video classification," Signal Processing Conference (EUSIPCO), 2014 Proceedings of the 22nd European , vol., no., pp.1307,1311, 1-5 Sept. 2014 (http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6952461&isnumber=6951911)
** Benoit A., Caplier A., Durette B., Herault, J., "USING HUMAN VISUAL SYSTEM MODELING FOR BIO-INSPIRED LOW LEVEL IMAGE PROCESSING", Elsevier, Computer Vision and Image Understanding 114 (2010), pp. 758-773, DOI: http://dx.doi.org/10.1016/j.cviu.2010.01.011
** This work have been carried out thanks to Jeanny Herault who's research and great discussions are the basis of all this work, please take a look at his book:
** Vision: Images, Signals and Neural Networks: Models of Neural Processing in Visual Perception (Progress in Neural Processing),By: Jeanny Herault, ISBN: 9814273686. WAPI (Tower ID): 113266891.
**
**
** License Agreement
** For Open Source Computer Vision Library
**
** Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
** Copyright (C) 2008-2011, Willow Garage Inc., all rights reserved.
**
** For Human Visual System tools (bioinspired)
** Copyright (C) 2007-2015, LISTIC Lab, Annecy le Vieux and GIPSA Lab, Grenoble, France, all rights reserved.
**
** Third party copyrights are property of their respective owners.
**
** Redistribution and use in source and binary forms, with or without modification,
** are permitted provided that the following conditions are met:
**
** * Redistributions of source code must retain the above copyright notice,
** this list of conditions and the following disclaimer.
**
** * Redistributions in binary form must reproduce the above copyright notice,
** this list of conditions and the following disclaimer in the documentation
** and/or other materials provided with the distribution.
**
** * The name of the copyright holders may not be used to endorse or promote products
** derived from this software without specific prior written permission.
**
** This software is provided by the copyright holders and contributors "as is" and
** any express or implied warranties, including, but not limited to, the implied
** warranties of merchantability and fitness for a particular purpose are disclaimed.
** In no event shall the Intel Corporation or contributors be liable for any direct,
** indirect, incidental, special, exemplary, or consequential damages
** (including, but not limited to, procurement of substitute goods or services;
** loss of use, data, or profits; or business interruption) however caused
** and on any theory of liability, whether in contract, strict liability,
** or tort (including negligence or otherwise) arising in any way out of
** the use of this software, even if advised of the possibility of such damage.
*******************************************************************************/
#ifndef SEGMENTATIONMODULE_HPP_
#define SEGMENTATIONMODULE_HPP_
/**
@file
@date 2007-2013
@author Alexandre BENOIT, benoit.alexandre.vision@gmail.com
*/
#include "opencv2/core.hpp" // for all OpenCV core functionalities access, including cv::Exception support
namespace cv
{
namespace bioinspired
{
//! @addtogroup bioinspired
//! @{
/** @brief parameter structure that stores the transient events detector setup parameters
*/
struct SegmentationParameters{ // CV_EXPORTS_W_MAP to export to python native dictionnaries
// default structure instance construction with default values
SegmentationParameters():
thresholdON(100),
thresholdOFF(100),
localEnergy_temporalConstant(0.5),
localEnergy_spatialConstant(5),
neighborhoodEnergy_temporalConstant(1),
neighborhoodEnergy_spatialConstant(15),
contextEnergy_temporalConstant(1),
contextEnergy_spatialConstant(75){};
// all properties list
float thresholdON;
float thresholdOFF;
//! the time constant of the first order low pass filter, use it to cut high temporal frequencies (noise or fast motion), unit is frames, typical value is 0.5 frame
float localEnergy_temporalConstant;
//! the spatial constant of the first order low pass filter, use it to cut high spatial frequencies (noise or thick contours), unit is pixels, typical value is 5 pixel
float localEnergy_spatialConstant;
//! local neighborhood energy filtering parameters : the aim is to get information about the energy neighborhood to perform a center surround energy analysis
float neighborhoodEnergy_temporalConstant;
float neighborhoodEnergy_spatialConstant;
//! context neighborhood energy filtering parameters : the aim is to get information about the energy on a wide neighborhood area to filtered out local effects
float contextEnergy_temporalConstant;
float contextEnergy_spatialConstant;
};
/** @brief class which provides a transient/moving areas segmentation module
perform a locally adapted segmentation by using the retina magno input data Based on Alexandre
BENOIT thesis: "Le système visuel humain au secours de la vision par ordinateur"
3 spatio temporal filters are used:
- a first one which filters the noise and local variations of the input motion energy
- a second (more powerfull low pass spatial filter) which gives the neighborhood motion energy the
segmentation consists in the comparison of these both outputs, if the local motion energy is higher
to the neighborhood otion energy, then the area is considered as moving and is segmented
- a stronger third low pass filter helps decision by providing a smooth information about the
"motion context" in a wider area
*/
class CV_EXPORTS_W TransientAreasSegmentationModule: public Algorithm
{
public:
/** @brief return the sze of the manage input and output images
*/
CV_WRAP virtual Size getSize()=0;
/** @brief try to open an XML segmentation parameters file to adjust current segmentation instance setup
- if the xml file does not exist, then default setup is applied
- warning, Exceptions are thrown if read XML file is not valid
@param segmentationParameterFile : the parameters filename
@param applyDefaultSetupOnFailure : set to true if an error must be thrown on error
*/
CV_WRAP virtual void setup(String segmentationParameterFile="", const bool applyDefaultSetupOnFailure=true)=0;
/** @brief try to open an XML segmentation parameters file to adjust current segmentation instance setup
- if the xml file does not exist, then default setup is applied
- warning, Exceptions are thrown if read XML file is not valid
@param fs : the open Filestorage which contains segmentation parameters
@param applyDefaultSetupOnFailure : set to true if an error must be thrown on error
*/
virtual void setup(cv::FileStorage &fs, const bool applyDefaultSetupOnFailure=true)=0;
/** @brief try to open an XML segmentation parameters file to adjust current segmentation instance setup
- if the xml file does not exist, then default setup is applied
- warning, Exceptions are thrown if read XML file is not valid
@param newParameters : a parameters structures updated with the new target configuration
*/
virtual void setup(SegmentationParameters newParameters)=0;
/** @brief return the current parameters setup
*/
virtual SegmentationParameters getParameters()=0;
/** @brief parameters setup display method
@return a string which contains formatted parameters information
*/
CV_WRAP virtual const String printSetup()=0;
/** @brief write xml/yml formated parameters information
@param fs : the filename of the xml file that will be open and writen with formatted parameters information
*/
CV_WRAP virtual void write( String fs ) const=0;
/** @brief write xml/yml formated parameters information
@param fs : a cv::Filestorage object ready to be filled
*/
virtual void write( cv::FileStorage& fs ) const CV_OVERRIDE = 0;
/** @brief main processing method, get result using methods getSegmentationPicture()
@param inputToSegment : the image to process, it must match the instance buffer size !
@param channelIndex : the channel to process in case of multichannel images
*/
CV_WRAP virtual void run(InputArray inputToSegment, const int channelIndex=0)=0;
/** @brief access function
return the last segmentation result: a boolean picture which is resampled between 0 and 255 for a display purpose
*/
CV_WRAP virtual void getSegmentationPicture(OutputArray transientAreas)=0;
/** @brief cleans all the buffers of the instance
*/
CV_WRAP virtual void clearAllBuffers()=0;
/** @brief allocator
@param inputSize : size of the images input to segment (output will be the same size)
*/
CV_WRAP static Ptr<TransientAreasSegmentationModule> create(Size inputSize);
};
//! @}
}} // namespaces end : cv and bioinspired
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifdef __OPENCV_BUILD
#error this is a compatibility header which should not be used inside the OpenCV library
#endif
#include "opencv2/calib3d.hpp"

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef OPENCV_CALIB3D_C_H
#define OPENCV_CALIB3D_C_H
#include "opencv2/core/types_c.h"
#ifdef __cplusplus
extern "C" {
#endif
/* Calculates fundamental matrix given a set of corresponding points */
#define CV_FM_7POINT 1
#define CV_FM_8POINT 2
#define CV_LMEDS 4
#define CV_RANSAC 8
#define CV_FM_LMEDS_ONLY CV_LMEDS
#define CV_FM_RANSAC_ONLY CV_RANSAC
#define CV_FM_LMEDS CV_LMEDS
#define CV_FM_RANSAC CV_RANSAC
enum
{
CV_ITERATIVE = 0,
CV_EPNP = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
CV_P3P = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
CV_DLS = 3 // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
};
#define CV_CALIB_CB_ADAPTIVE_THRESH 1
#define CV_CALIB_CB_NORMALIZE_IMAGE 2
#define CV_CALIB_CB_FILTER_QUADS 4
#define CV_CALIB_CB_FAST_CHECK 8
#define CV_CALIB_USE_INTRINSIC_GUESS 1
#define CV_CALIB_FIX_ASPECT_RATIO 2
#define CV_CALIB_FIX_PRINCIPAL_POINT 4
#define CV_CALIB_ZERO_TANGENT_DIST 8
#define CV_CALIB_FIX_FOCAL_LENGTH 16
#define CV_CALIB_FIX_K1 32
#define CV_CALIB_FIX_K2 64
#define CV_CALIB_FIX_K3 128
#define CV_CALIB_FIX_K4 2048
#define CV_CALIB_FIX_K5 4096
#define CV_CALIB_FIX_K6 8192
#define CV_CALIB_RATIONAL_MODEL 16384
#define CV_CALIB_THIN_PRISM_MODEL 32768
#define CV_CALIB_FIX_S1_S2_S3_S4 65536
#define CV_CALIB_TILTED_MODEL 262144
#define CV_CALIB_FIX_TAUX_TAUY 524288
#define CV_CALIB_FIX_TANGENT_DIST 2097152
#define CV_CALIB_NINTRINSIC 18
#define CV_CALIB_FIX_INTRINSIC 256
#define CV_CALIB_SAME_FOCAL_LENGTH 512
#define CV_CALIB_ZERO_DISPARITY 1024
/* stereo correspondence parameters and functions */
#define CV_STEREO_BM_NORMALIZED_RESPONSE 0
#define CV_STEREO_BM_XSOBEL 1
#ifdef __cplusplus
} // extern "C"
//////////////////////////////////////////////////////////////////////////////////////////
class CV_EXPORTS CvLevMarq
{
public:
CvLevMarq();
CvLevMarq( int nparams, int nerrs, CvTermCriteria criteria=
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
bool completeSymmFlag=false );
~CvLevMarq();
void init( int nparams, int nerrs, CvTermCriteria criteria=
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,DBL_EPSILON),
bool completeSymmFlag=false );
bool update( const CvMat*& param, CvMat*& J, CvMat*& err );
bool updateAlt( const CvMat*& param, CvMat*& JtJ, CvMat*& JtErr, double*& errNorm );
void clear();
void step();
enum { DONE=0, STARTED=1, CALC_J=2, CHECK_ERR=3 };
cv::Ptr<CvMat> mask;
cv::Ptr<CvMat> prevParam;
cv::Ptr<CvMat> param;
cv::Ptr<CvMat> J;
cv::Ptr<CvMat> err;
cv::Ptr<CvMat> JtJ;
cv::Ptr<CvMat> JtJN;
cv::Ptr<CvMat> JtErr;
cv::Ptr<CvMat> JtJV;
cv::Ptr<CvMat> JtJW;
double prevErrNorm, errNorm;
int lambdaLg10;
CvTermCriteria criteria;
int state;
int iters;
bool completeSymmFlag;
int solveMethod;
};
#endif
#endif /* OPENCV_CALIB3D_C_H */

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2014, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_CCALIB_HPP__
#define __OPENCV_CCALIB_HPP__
#include <opencv2/core.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/calib3d.hpp>
#include <vector>
/** @defgroup ccalib Custom Calibration Pattern for 3D reconstruction
*/
namespace cv{ namespace ccalib{
//! @addtogroup ccalib
//! @{
class CV_EXPORTS CustomPattern : public Algorithm
{
public:
CustomPattern();
virtual ~CustomPattern();
bool create(InputArray pattern, const Size2f boardSize, OutputArray output = noArray());
bool findPattern(InputArray image, OutputArray matched_features, OutputArray pattern_points, const double ratio = 0.7,
const double proj_error = 8.0, const bool refine_position = false, OutputArray out = noArray(),
OutputArray H = noArray(), OutputArray pattern_corners = noArray());
bool isInitialized();
void getPatternPoints(std::vector<KeyPoint>& original_points);
/**<
Returns a vector<Point> of the original points.
*/
double getPixelSize();
/**<
Get the pixel size of the pattern
*/
bool setFeatureDetector(Ptr<FeatureDetector> featureDetector);
bool setDescriptorExtractor(Ptr<DescriptorExtractor> extractor);
bool setDescriptorMatcher(Ptr<DescriptorMatcher> matcher);
Ptr<FeatureDetector> getFeatureDetector();
Ptr<DescriptorExtractor> getDescriptorExtractor();
Ptr<DescriptorMatcher> getDescriptorMatcher();
double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints,
Size imageSize, InputOutputArray cameraMatrix, InputOutputArray distCoeffs,
OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs, int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 30, DBL_EPSILON));
/**<
Calls the calirateCamera function with the same inputs.
*/
bool findRt(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs,
InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE);
bool findRt(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int flags = SOLVEPNP_ITERATIVE);
/**<
Uses solvePnP to find the rotation and translation of the pattern
with respect to the camera frame.
*/
bool findRtRANSAC(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs,
InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100,
float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE);
bool findRtRANSAC(InputArray image, InputArray cameraMatrix, InputArray distCoeffs,
InputOutputArray rvec, InputOutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100,
float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE);
/**<
Uses solvePnPRansac()
*/
void drawOrientation(InputOutputArray image, InputArray tvec, InputArray rvec, InputArray cameraMatrix,
InputArray distCoeffs, double axis_length = 3, int axis_width = 2);
/**<
pattern_corners -> projected over the image position of the edges of the pattern.
*/
private:
Mat img_roi;
std::vector<Point2f> obj_corners;
double pxSize;
bool initialized;
Ptr<FeatureDetector> detector;
Ptr<DescriptorExtractor> descriptorExtractor;
Ptr<DescriptorMatcher> descriptorMatcher;
std::vector<KeyPoint> keypoints;
std::vector<Point3f> points3d;
Mat descriptor;
bool init(Mat& image, const float pixel_size, OutputArray output = noArray());
bool findPatternPass(const Mat& image, std::vector<Point2f>& matched_features, std::vector<Point3f>& pattern_points,
Mat& H, std::vector<Point2f>& scene_corners, const double pratio, const double proj_error,
const bool refine_position = false, const Mat& mask = Mat(), OutputArray output = noArray());
void scaleFoundPoints(const double squareSize, const std::vector<KeyPoint>& corners, std::vector<Point3f>& pts3d);
void check_matches(std::vector<Point2f>& matched, const std::vector<Point2f>& pattern, std::vector<DMatch>& good, std::vector<Point3f>& pattern_3d, const Mat& H);
void keypoints2points(const std::vector<KeyPoint>& in, std::vector<Point2f>& out);
void updateKeypointsPos(std::vector<KeyPoint>& in, const std::vector<Point2f>& new_pos);
void refinePointsPos(const Mat& img, std::vector<Point2f>& p);
void refineKeypointsPos(const Mat& img, std::vector<KeyPoint>& kp);
};
//! @}
}} // namespace ccalib, cv
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2015, Baisheng Lai (laibaisheng@gmail.com), Zhejiang University,
// all rights reserved.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_MULTICAMERACALIBRATION_HPP__
#define __OPENCV_MULTICAMERACALIBRATION_HPP__
#include "opencv2/ccalib/randpattern.hpp"
#include "opencv2/ccalib/omnidir.hpp"
#include <string>
#include <iostream>
namespace cv { namespace multicalib {
//! @addtogroup ccalib
//! @{
#define HEAD -1
#define INVALID -2
/** @brief Class for multiple camera calibration that supports pinhole camera and omnidirection camera.
For omnidirectional camera model, please refer to omnidir.hpp in ccalib module.
It first calibrate each camera individually, then a bundle adjustment like optimization is applied to
refine extrinsic parameters. So far, it only support "random" pattern for calibration,
see randomPattern.hpp in ccalib module for details.
Images that are used should be named by "cameraIdx-timestamp.*", several images with the same timestamp
means that they are the same pattern that are photographed. cameraIdx should start from 0.
For more details, please refer to paper
B. Li, L. Heng, K. Kevin and M. Pollefeys, "A Multiple-Camera System
Calibration Toolbox Using A Feature Descriptor-Based Calibration
Pattern", in IROS 2013.
*/
class CV_EXPORTS MultiCameraCalibration
{
public:
enum {
PINHOLE,
OMNIDIRECTIONAL
//FISHEYE
};
// an edge connects a camera and pattern
struct edge
{
int cameraVertex; // vertex index for camera in this edge
int photoVertex; // vertex index for pattern in this edge
int photoIndex; // photo index among photos for this camera
Mat transform; // transform from pattern to camera
edge(int cv, int pv, int pi, Mat trans)
{
cameraVertex = cv;
photoVertex = pv;
photoIndex = pi;
transform = trans;
}
};
struct vertex
{
Mat pose; // relative pose to the first camera. For camera vertex, it is the
// transform from the first camera to this camera, for pattern vertex,
// it is the transform from pattern to the first camera
int timestamp; // timestamp of photo, only available for photo vertex
vertex(Mat po, int ts)
{
pose = po;
timestamp = ts;
}
vertex()
{
pose = Mat::eye(4, 4, CV_32F);
timestamp = -1;
}
};
/* @brief Constructor
@param cameraType camera type, PINHOLE or OMNIDIRECTIONAL
@param nCameras number of cameras
@fileName filename of string list that are used for calibration, the file is generated
by imagelist_creator from OpenCv samples. The first one in the list is the pattern filename.
@patternWidth the physical width of pattern, in user defined unit.
@patternHeight the physical height of pattern, in user defined unit.
@showExtration whether show extracted features and feature filtering.
@nMiniMatches minimal number of matched features for a frame.
@flags Calibration flags
@criteria optimization stopping criteria.
@detector feature detector that detect feature points in pattern and images.
@descriptor feature descriptor.
@matcher feature matcher.
*/
MultiCameraCalibration(int cameraType, int nCameras, const std::string& fileName, float patternWidth,
float patternHeight, int verbose = 0, int showExtration = 0, int nMiniMatches = 20, int flags = 0,
TermCriteria criteria = TermCriteria(TermCriteria::COUNT + TermCriteria::EPS, 200, 1e-7),
Ptr<FeatureDetector> detector = AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.006f),
Ptr<DescriptorExtractor> descriptor = AKAZE::create(AKAZE::DESCRIPTOR_MLDB,0, 3, 0.006f),
Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-L1"));
/* @brief load images
*/
void loadImages();
/* @brief initialize multiple camera calibration. It calibrates each camera individually.
*/
void initialize();
/* @brief optimization extrinsic parameters
*/
double optimizeExtrinsics();
/* @brief run multi-camera camera calibration, it runs loadImage(), initialize() and optimizeExtrinsics()
*/
double run();
/* @brief write camera parameters to file.
*/
void writeParameters(const std::string& filename);
private:
std::vector<std::string> readStringList();
int getPhotoVertex(int timestamp);
void graphTraverse(const Mat& G, int begin, std::vector<int>& order, std::vector<int>& pre);
void findRowNonZero(const Mat& row, Mat& idx);
void computeJacobianExtrinsic(const Mat& extrinsicParams, Mat& JTJ_inv, Mat& JTE);
void computePhotoCameraJacobian(const Mat& rvecPhoto, const Mat& tvecPhoto, const Mat& rvecCamera,
const Mat& tvecCamera, Mat& rvecTran, Mat& tvecTran, const Mat& objectPoints, const Mat& imagePoints, const Mat& K,
const Mat& distort, const Mat& xi, Mat& jacobianPhoto, Mat& jacobianCamera, Mat& E);
void compose_motion(InputArray _om1, InputArray _T1, InputArray _om2, InputArray _T2, Mat& om3, Mat& T3, Mat& dom3dom1,
Mat& dom3dT1, Mat& dom3dom2, Mat& dom3dT2, Mat& dT3dom1, Mat& dT3dT1, Mat& dT3dom2, Mat& dT3dT2);
void JRodriguesMatlab(const Mat& src, Mat& dst);
void dAB(InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB);
double computeProjectError(Mat& parameters);
void vector2parameters(const Mat& parameters, std::vector<Vec3f>& rvecVertex, std::vector<Vec3f>& tvecVertexs);
void parameters2vector(const std::vector<Vec3f>& rvecVertex, const std::vector<Vec3f>& tvecVertex, Mat& parameters);
int _camType; //PINHOLE, FISHEYE or OMNIDIRECTIONAL
int _nCamera;
int _nMiniMatches;
int _flags;
int _verbose;
double _error;
float _patternWidth, _patternHeight;
TermCriteria _criteria;
std::string _filename;
int _showExtraction;
Ptr<FeatureDetector> _detector;
Ptr<DescriptorExtractor> _descriptor;
Ptr<DescriptorMatcher> _matcher;
std::vector<edge> _edgeList;
std::vector<vertex> _vertexList;
std::vector<std::vector<cv::Mat> > _objectPointsForEachCamera;
std::vector<std::vector<cv::Mat> > _imagePointsForEachCamera;
std::vector<cv::Mat> _cameraMatrix;
std::vector<cv::Mat> _distortCoeffs;
std::vector<cv::Mat> _xi;
std::vector<std::vector<Mat> > _omEachCamera, _tEachCamera;
};
//! @}
}} // namespace multicalib, cv
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2015, Baisheng Lai (laibaisheng@gmail.com), Zhejiang University,
// all rights reserved.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_OMNIDIR_HPP__
#define __OPENCV_OMNIDIR_HPP__
#include "opencv2/core.hpp"
#include "opencv2/core/affine.hpp"
#include <vector>
namespace cv
{
namespace omnidir
{
//! @addtogroup ccalib
//! @{
enum {
CALIB_USE_GUESS = 1,
CALIB_FIX_SKEW = 2,
CALIB_FIX_K1 = 4,
CALIB_FIX_K2 = 8,
CALIB_FIX_P1 = 16,
CALIB_FIX_P2 = 32,
CALIB_FIX_XI = 64,
CALIB_FIX_GAMMA = 128,
CALIB_FIX_CENTER = 256
};
enum{
RECTIFY_PERSPECTIVE = 1,
RECTIFY_CYLINDRICAL = 2,
RECTIFY_LONGLATI = 3,
RECTIFY_STEREOGRAPHIC = 4
};
enum{
XYZRGB = 1,
XYZ = 2
};
/**
* This module was accepted as a GSoC 2015 project for OpenCV, authored by
* Baisheng Lai, mentored by Bo Li.
*/
/** @brief Projects points for omnidirectional camera using CMei's model
@param objectPoints Object points in world coordinate, vector of vector of Vec3f or Mat of
1xN/Nx1 3-channel of type CV_32F and N is the number of points. 64F is also acceptable.
@param imagePoints Output array of image points, vector of vector of Vec2f or
1xN/Nx1 2-channel of type CV_32F. 64F is also acceptable.
@param rvec vector of rotation between world coordinate and camera coordinate, i.e., om
@param tvec vector of translation between pattern coordinate and camera coordinate
@param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
@param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$.
@param xi The parameter xi for CMei's model
@param jacobian Optional output 2Nx16 of type CV_64F jacobian matrix, contains the derivatives of
image pixel points wrt parameters including \f$om, T, f_x, f_y, s, c_x, c_y, xi, k_1, k_2, p_1, p_2\f$.
This matrix will be used in calibration by optimization.
The function projects object 3D points of world coordinate to image pixels, parameter by intrinsic
and extrinsic parameters. Also, it optionally compute a by-product: the jacobian matrix containing
contains the derivatives of image pixel points wrt intrinsic and extrinsic parameters.
*/
CV_EXPORTS_W void projectPoints(InputArray objectPoints, OutputArray imagePoints, InputArray rvec, InputArray tvec,
InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());
/** @overload */
CV_EXPORTS void projectPoints(InputArray objectPoints, OutputArray imagePoints, const Affine3d& affine,
InputArray K, double xi, InputArray D, OutputArray jacobian = noArray());
/** @brief Undistort 2D image points for omnidirectional camera using CMei's model
@param distorted Array of distorted image points, vector of Vec2f
or 1xN/Nx1 2-channel Mat of type CV_32F, 64F depth is also acceptable
@param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
@param D Distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$.
@param xi The parameter xi for CMei's model
@param R Rotation trainsform between the original and object space : 3x3 1-channel, or vector: 3x1/1x3
1-channel or 1x1 3-channel
@param undistorted array of normalized object points, vector of Vec2f/Vec2d or 1xN/Nx1 2-channel Mat with the same
depth of distorted points.
*/
CV_EXPORTS_W void undistortPoints(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, InputArray R);
/** @brief Computes undistortion and rectification maps for omnidirectional camera image transform by a rotation R.
It output two maps that are used for cv::remap(). If D is empty then zero distortion is used,
if R or P is empty then identity matrices are used.
@param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$, with depth CV_32F or CV_64F
@param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$, with depth CV_32F or CV_64F
@param xi The parameter xi for CMei's model
@param R Rotation transform between the original and object space : 3x3 1-channel, or vector: 3x1/1x3, with depth CV_32F or CV_64F
@param P New camera matrix (3x3) or new projection matrix (3x4)
@param size Undistorted image size.
@param m1type Type of the first output map that can be CV_32FC1 or CV_16SC2 . See convertMaps()
for details.
@param map1 The first output map.
@param map2 The second output map.
@param flags Flags indicates the rectification type, RECTIFY_PERSPECTIVE, RECTIFY_CYLINDRICAL, RECTIFY_LONGLATI and RECTIFY_STEREOGRAPHIC
are supported.
*/
CV_EXPORTS_W void initUndistortRectifyMap(InputArray K, InputArray D, InputArray xi, InputArray R, InputArray P, const cv::Size& size,
int m1type, OutputArray map1, OutputArray map2, int flags);
/** @brief Undistort omnidirectional images to perspective images
@param distorted The input omnidirectional image.
@param undistorted The output undistorted image.
@param K Camera matrix \f$K = \vecthreethree{f_x}{s}{c_x}{0}{f_y}{c_y}{0}{0}{_1}\f$.
@param D Input vector of distortion coefficients \f$(k_1, k_2, p_1, p_2)\f$.
@param xi The parameter xi for CMei's model.
@param flags Flags indicates the rectification type, RECTIFY_PERSPECTIVE, RECTIFY_CYLINDRICAL, RECTIFY_LONGLATI and RECTIFY_STEREOGRAPHIC
@param Knew Camera matrix of the distorted image. If it is not assigned, it is just K.
@param new_size The new image size. By default, it is the size of distorted.
@param R Rotation matrix between the input and output images. By default, it is identity matrix.
*/
CV_EXPORTS_W void undistortImage(InputArray distorted, OutputArray undistorted, InputArray K, InputArray D, InputArray xi, int flags,
InputArray Knew = cv::noArray(), const Size& new_size = Size(), InputArray R = Mat::eye(3, 3, CV_64F));
/** @brief Perform omnidirectional camera calibration, the default depth of outputs is CV_64F.
@param objectPoints Vector of vector of Vec3f object points in world (pattern) coordinate.
It also can be vector of Mat with size 1xN/Nx1 and type CV_32FC3. Data with depth of 64_F is also acceptable.
@param imagePoints Vector of vector of Vec2f corresponding image points of objectPoints. It must be the same
size and the same type with objectPoints.
@param size Image size of calibration images.
@param K Output calibrated camera matrix.
@param xi Output parameter xi for CMei's model
@param D Output distortion parameters \f$(k_1, k_2, p_1, p_2)\f$
@param rvecs Output rotations for each calibration images
@param tvecs Output translation for each calibration images
@param flags The flags that control calibrate
@param criteria Termination criteria for optimization
@param idx Indices of images that pass initialization, which are really used in calibration. So the size of rvecs is the
same as idx.total().
*/
CV_EXPORTS_W double calibrate(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size size,
InputOutputArray K, InputOutputArray xi, InputOutputArray D, OutputArrayOfArrays rvecs, OutputArrayOfArrays tvecs,
int flags, TermCriteria criteria, OutputArray idx=noArray());
/** @brief Stereo calibration for omnidirectional camera model. It computes the intrinsic parameters for two
cameras and the extrinsic parameters between two cameras. The default depth of outputs is CV_64F.
@param objectPoints Object points in world (pattern) coordinate. Its type is vector<vector<Vec3f> >.
It also can be vector of Mat with size 1xN/Nx1 and type CV_32FC3. Data with depth of 64_F is also acceptable.
@param imagePoints1 The corresponding image points of the first camera, with type vector<vector<Vec2f> >.
It must be the same size and the same type as objectPoints.
@param imagePoints2 The corresponding image points of the second camera, with type vector<vector<Vec2f> >.
It must be the same size and the same type as objectPoints.
@param imageSize1 Image size of calibration images of the first camera.
@param imageSize2 Image size of calibration images of the second camera.
@param K1 Output camera matrix for the first camera.
@param xi1 Output parameter xi of Mei's model for the first camera
@param D1 Output distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the first camera
@param K2 Output camera matrix for the first camera.
@param xi2 Output parameter xi of CMei's model for the second camera
@param D2 Output distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the second camera
@param rvec Output rotation between the first and second camera
@param tvec Output translation between the first and second camera
@param rvecsL Output rotation for each image of the first camera
@param tvecsL Output translation for each image of the first camera
@param flags The flags that control stereoCalibrate
@param criteria Termination criteria for optimization
@param idx Indices of image pairs that pass initialization, which are really used in calibration. So the size of rvecs is the
same as idx.total().
@
*/
CV_EXPORTS_W double stereoCalibrate(InputOutputArrayOfArrays objectPoints, InputOutputArrayOfArrays imagePoints1, InputOutputArrayOfArrays imagePoints2,
const Size& imageSize1, const Size& imageSize2, InputOutputArray K1, InputOutputArray xi1, InputOutputArray D1, InputOutputArray K2, InputOutputArray xi2,
InputOutputArray D2, OutputArray rvec, OutputArray tvec, OutputArrayOfArrays rvecsL, OutputArrayOfArrays tvecsL, int flags, TermCriteria criteria, OutputArray idx=noArray());
/** @brief Stereo rectification for omnidirectional camera model. It computes the rectification rotations for two cameras
@param R Rotation between the first and second camera
@param T Translation between the first and second camera
@param R1 Output 3x3 rotation matrix for the first camera
@param R2 Output 3x3 rotation matrix for the second camera
*/
CV_EXPORTS_W void stereoRectify(InputArray R, InputArray T, OutputArray R1, OutputArray R2);
/** @brief Stereo 3D reconstruction from a pair of images
@param image1 The first input image
@param image2 The second input image
@param K1 Input camera matrix of the first camera
@param D1 Input distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the first camera
@param xi1 Input parameter xi for the first camera for CMei's model
@param K2 Input camera matrix of the second camera
@param D2 Input distortion parameters \f$(k_1, k_2, p_1, p_2)\f$ for the second camera
@param xi2 Input parameter xi for the second camera for CMei's model
@param R Rotation between the first and second camera
@param T Translation between the first and second camera
@param flag Flag of rectification type, RECTIFY_PERSPECTIVE or RECTIFY_LONGLATI
@param numDisparities The parameter 'numDisparities' in StereoSGBM, see StereoSGBM for details.
@param SADWindowSize The parameter 'SADWindowSize' in StereoSGBM, see StereoSGBM for details.
@param disparity Disparity map generated by stereo matching
@param image1Rec Rectified image of the first image
@param image2Rec rectified image of the second image
@param newSize Image size of rectified image, see omnidir::undistortImage
@param Knew New camera matrix of rectified image, see omnidir::undistortImage
@param pointCloud Point cloud of 3D reconstruction, with type CV_64FC3
@param pointType Point cloud type, it can be XYZRGB or XYZ
*/
CV_EXPORTS_W void stereoReconstruct(InputArray image1, InputArray image2, InputArray K1, InputArray D1, InputArray xi1,
InputArray K2, InputArray D2, InputArray xi2, InputArray R, InputArray T, int flag, int numDisparities, int SADWindowSize,
OutputArray disparity, OutputArray image1Rec, OutputArray image2Rec, const Size& newSize = Size(), InputArray Knew = cv::noArray(),
OutputArray pointCloud = cv::noArray(), int pointType = XYZRGB);
namespace internal
{
void initializeCalibration(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, Size size, OutputArrayOfArrays omAll,
OutputArrayOfArrays tAll, OutputArray K, double& xi, OutputArray idx = noArray());
void initializeStereoCalibration(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
const Size& size1, const Size& size2, OutputArray om, OutputArray T, OutputArrayOfArrays omL, OutputArrayOfArrays tL, OutputArray K1, OutputArray D1, OutputArray K2, OutputArray D2,
double &xi1, double &xi2, int flags, OutputArray idx);
void computeJacobian(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray parameters, Mat& JTJ_inv, Mat& JTE, int flags,
double epsilon);
void computeJacobianStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2,
InputArray parameters, Mat& JTJ_inv, Mat& JTE, int flags, double epsilon);
void encodeParameters(InputArray K, InputArrayOfArrays omAll, InputArrayOfArrays tAll, InputArray distoaration, double xi, OutputArray parameters);
void encodeParametersStereo(InputArray K1, InputArray K2, InputArray om, InputArray T, InputArrayOfArrays omL, InputArrayOfArrays tL,
InputArray D1, InputArray D2, double xi1, double xi2, OutputArray parameters);
void decodeParameters(InputArray paramsters, OutputArray K, OutputArrayOfArrays omAll, OutputArrayOfArrays tAll, OutputArray distoration, double& xi);
void decodeParametersStereo(InputArray parameters, OutputArray K1, OutputArray K2, OutputArray om, OutputArray T, OutputArrayOfArrays omL,
OutputArrayOfArrays tL, OutputArray D1, OutputArray D2, double& xi1, double& xi2);
void estimateUncertainties(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray parameters, Mat& errors, Vec2d& std_error, double& rms, int flags);
void estimateUncertaintiesStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray parameters, Mat& errors,
Vec2d& std_error, double& rms, int flags);
double computeMeanReproErr(InputArrayOfArrays imagePoints, InputArrayOfArrays proImagePoints);
double computeMeanReproErr(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints, InputArray K, InputArray D, double xi, InputArrayOfArrays omAll,
InputArrayOfArrays tAll);
double computeMeanReproErrStereo(InputArrayOfArrays objectPoints, InputArrayOfArrays imagePoints1, InputArrayOfArrays imagePoints2, InputArray K1, InputArray K2,
InputArray D1, InputArray D2, double xi1, double xi2, InputArray om, InputArray T, InputArrayOfArrays omL, InputArrayOfArrays TL);
void subMatrix(const Mat& src, Mat& dst, const std::vector<int>& cols, const std::vector<int>& rows);
void flags2idx(int flags, std::vector<int>& idx, int n);
void flags2idxStereo(int flags, std::vector<int>& idx, int n);
void fillFixed(Mat&G, int flags, int n);
void fillFixedStereo(Mat& G, int flags, int n);
double findMedian(const Mat& row);
Vec3d findMedian3(InputArray mat);
void getInterset(InputArray idx1, InputArray idx2, OutputArray inter1, OutputArray inter2, OutputArray inter_ori);
void compose_motion(InputArray _om1, InputArray _T1, InputArray _om2, InputArray _T2, Mat& om3, Mat& T3, Mat& dom3dom1,
Mat& dom3dT1, Mat& dom3dom2, Mat& dom3dT2, Mat& dT3dom1, Mat& dT3dT1, Mat& dT3dom2, Mat& dT3dT2);
//void JRodriguesMatlab(const Mat& src, Mat& dst);
//void dAB(InputArray A, InputArray B, OutputArray dABdA, OutputArray dABdB);
} // internal
//! @}
} // omnidir
} //cv
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2015, Baisheng Lai (laibaisheng@gmail.com), Zhejiang University,
// all rights reserved.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_RANDOMPATTERN_HPP__
#define __OPENCV_RANDOMPATTERN_HPP__
#include "opencv2/features2d.hpp"
#include "opencv2/highgui.hpp"
namespace cv { namespace randpattern {
//! @addtogroup ccalib
//! @{
/** @brief Class for finding features points and corresponding 3D in world coordinate of
a "random" pattern, which can be to be used in calibration. It is useful when pattern is
partly occluded or only a part of pattern can be observed in multiple cameras calibration.
The pattern can be generated by RandomPatternGenerator class described in this file.
Please refer to paper
B. Li, L. Heng, K. Kevin and M. Pollefeys, "A Multiple-Camera System
Calibration Toolbox Using A Feature Descriptor-Based Calibration
Pattern", in IROS 2013.
*/
class CV_EXPORTS RandomPatternCornerFinder
{
public:
/* @brief Construct RandomPatternCornerFinder object
@param patternWidth the real width of "random" pattern in a user defined unit.
@param patternHeight the real height of "random" pattern in a user defined unit.
@param nMiniMatch number of minimal matches, otherwise that image is abandoned
@depth depth of output objectPoints and imagePoints, set it to be CV_32F or CV_64F.
@showExtraction whether show feature extraction, 0 for no and 1 for yes.
@detector feature detector to detect feature points in pattern and images.
@descriptor feature descriptor.
@matcher feature matcher.
*/
RandomPatternCornerFinder(float patternWidth, float patternHeight,
int nminiMatch = 20, int depth = CV_32F, int verbose = 0, int showExtraction = 0,
Ptr<FeatureDetector> detector = AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.005f),
Ptr<DescriptorExtractor> descriptor = AKAZE::create(AKAZE::DESCRIPTOR_MLDB,0, 3, 0.005f),
Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-L1"));
/* @brief Load pattern image and compute features for pattern
@param patternImage image for "random" pattern generated by RandomPatternGenerator, run it first.
*/
void loadPattern(const cv::Mat &patternImage);
/* @brief Load pattern and features
@param patternImage image for "random" pattern generated by RandomPatternGenerator, run it first.
@param patternKeyPoints keyPoints created from a FeatureDetector.
@param patternDescriptors descriptors created from a DescriptorExtractor.
*/
void loadPattern(const cv::Mat &patternImage, const std::vector<cv::KeyPoint> &patternKeyPoints, const cv::Mat &patternDescriptors);
/* @brief Compute matched object points and image points which are used for calibration
The objectPoints (3D) and imagePoints (2D) are stored inside the class. Run getObjectPoints()
and getImagePoints() to get them.
@param inputImages vector of 8-bit grayscale images containing "random" pattern
that are used for calibration.
*/
void computeObjectImagePoints(std::vector<cv::Mat> inputImages);
//void computeObjectImagePoints2(std::vector<cv::Mat> inputImages);
/* @brief Compute object and image points for a single image. It returns a vector<Mat> that
the first element stores the imagePoints and the second one stores the objectPoints.
@param inputImage single input image for calibration
*/
std::vector<cv::Mat> computeObjectImagePointsForSingle(cv::Mat inputImage);
/* @brief Get object(3D) points
*/
const std::vector<cv::Mat> &getObjectPoints();
/* @brief and image(2D) points
*/
const std::vector<cv::Mat> &getImagePoints();
private:
std::vector<cv::Mat> _objectPonits, _imagePoints;
float _patternWidth, _patternHeight;
cv::Size _patternImageSize;
int _nminiMatch;
int _depth;
int _verbose;
Ptr<FeatureDetector> _detector;
Ptr<DescriptorExtractor> _descriptor;
Ptr<DescriptorMatcher> _matcher;
Mat _descriptorPattern;
std::vector<cv::KeyPoint> _keypointsPattern;
Mat _patternImage;
int _showExtraction;
void keyPoints2MatchedLocation(const std::vector<cv::KeyPoint>& imageKeypoints,
const std::vector<cv::KeyPoint>& patternKeypoints, const std::vector<cv::DMatch> matchces,
cv::Mat& matchedImagelocation, cv::Mat& matchedPatternLocation);
void getFilteredLocation(cv::Mat& imageKeypoints, cv::Mat& patternKeypoints, const cv::Mat mask);
void getObjectImagePoints(const cv::Mat& imageKeypoints, const cv::Mat& patternKeypoints);
void crossCheckMatching( cv::Ptr<DescriptorMatcher>& descriptorMatcher,
const Mat& descriptors1, const Mat& descriptors2,
std::vector<DMatch>& filteredMatches12, int knn=1 );
void drawCorrespondence(const Mat& image1, const std::vector<cv::KeyPoint> keypoint1,
const Mat& image2, const std::vector<cv::KeyPoint> keypoint2, const std::vector<cv::DMatch> matchces,
const Mat& mask1, const Mat& mask2, const int step);
};
/* @brief Class to generate "random" pattern image that are used for RandomPatternCornerFinder
Please refer to paper
B. Li, L. Heng, K. Kevin and M. Pollefeys, "A Multiple-Camera System
Calibration Toolbox Using A Feature Descriptor-Based Calibration
Pattern", in IROS 2013.
*/
class CV_EXPORTS RandomPatternGenerator
{
public:
/* @brief Construct RandomPatternGenerator
@param imageWidth image width of the generated pattern image
@param imageHeight image height of the generated pattern image
*/
RandomPatternGenerator(int imageWidth, int imageHeight);
/* @brief Generate pattern
*/
void generatePattern();
/* @brief Get pattern
*/
cv::Mat getPattern();
private:
cv::Mat _pattern;
int _imageWidth, _imageHeight;
};
//! @}
}} //namespace randpattern, cv
#endif

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Copyright (C) 2013, OpenCV Foundation, all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef OPENCV_CORE_AFFINE3_HPP
#define OPENCV_CORE_AFFINE3_HPP
#ifdef __cplusplus
#include <opencv2/core.hpp>
namespace cv
{
//! @addtogroup core
//! @{
/** @brief Affine transform
*
* It represents a 4x4 homogeneous transformation matrix \f$T\f$
*
* \f[T =
* \begin{bmatrix}
* R & t\\
* 0 & 1\\
* \end{bmatrix}
* \f]
*
* where \f$R\f$ is a 3x3 rotation matrix and \f$t\f$ is a 3x1 translation vector.
*
* You can specify \f$R\f$ either by a 3x3 rotation matrix or by a 3x1 rotation vector,
* which is converted to a 3x3 rotation matrix by the Rodrigues formula.
*
* To construct a matrix \f$T\f$ representing first rotation around the axis \f$r\f$ with rotation
* angle \f$|r|\f$ in radian (right hand rule) and then translation by the vector \f$t\f$, you can use
*
* @code
* cv::Vec3f r, t;
* cv::Affine3f T(r, t);
* @endcode
*
* If you already have the rotation matrix \f$R\f$, then you can use
*
* @code
* cv::Matx33f R;
* cv::Affine3f T(R, t);
* @endcode
*
* To extract the rotation matrix \f$R\f$ from \f$T\f$, use
*
* @code
* cv::Matx33f R = T.rotation();
* @endcode
*
* To extract the translation vector \f$t\f$ from \f$T\f$, use
*
* @code
* cv::Vec3f t = T.translation();
* @endcode
*
* To extract the rotation vector \f$r\f$ from \f$T\f$, use
*
* @code
* cv::Vec3f r = T.rvec();
* @endcode
*
* Note that since the mapping from rotation vectors to rotation matrices
* is many to one. The returned rotation vector is not necessarily the one
* you used before to set the matrix.
*
* If you have two transformations \f$T = T_1 * T_2\f$, use
*
* @code
* cv::Affine3f T, T1, T2;
* T = T2.concatenate(T1);
* @endcode
*
* To get the inverse transform of \f$T\f$, use
*
* @code
* cv::Affine3f T, T_inv;
* T_inv = T.inv();
* @endcode
*
*/
template<typename T>
class Affine3
{
public:
typedef T float_type;
typedef Matx<float_type, 3, 3> Mat3;
typedef Matx<float_type, 4, 4> Mat4;
typedef Vec<float_type, 3> Vec3;
//! Default constructor. It represents a 4x4 identity matrix.
Affine3();
//! Augmented affine matrix
Affine3(const Mat4& affine);
/**
* The resulting 4x4 matrix is
*
* \f[
* \begin{bmatrix}
* R & t\\
* 0 & 1\\
* \end{bmatrix}
* \f]
*
* @param R 3x3 rotation matrix.
* @param t 3x1 translation vector.
*/
Affine3(const Mat3& R, const Vec3& t = Vec3::all(0));
/**
* Rodrigues vector.
*
* The last row of the current matrix is set to [0,0,0,1].
*
* @param rvec 3x1 rotation vector. Its direction indicates the rotation axis and its length
* indicates the rotation angle in radian (using right hand rule).
* @param t 3x1 translation vector.
*/
Affine3(const Vec3& rvec, const Vec3& t = Vec3::all(0));
/**
* Combines all constructors above. Supports 4x4, 3x4, 3x3, 1x3, 3x1 sizes of data matrix.
*
* The last row of the current matrix is set to [0,0,0,1] when data is not 4x4.
*
* @param data 1-channel matrix.
* when it is 4x4, it is copied to the current matrix and t is not used.
* When it is 3x4, it is copied to the upper part 3x4 of the current matrix and t is not used.
* When it is 3x3, it is copied to the upper left 3x3 part of the current matrix.
* When it is 3x1 or 1x3, it is treated as a rotation vector and the Rodrigues formula is used
* to compute a 3x3 rotation matrix.
* @param t 3x1 translation vector. It is used only when data is neither 4x4 nor 3x4.
*/
explicit Affine3(const Mat& data, const Vec3& t = Vec3::all(0));
//! From 16-element array
explicit Affine3(const float_type* vals);
//! Create an 4x4 identity transform
static Affine3 Identity();
/**
* Rotation matrix.
*
* Copy the rotation matrix to the upper left 3x3 part of the current matrix.
* The remaining elements of the current matrix are not changed.
*
* @param R 3x3 rotation matrix.
*
*/
void rotation(const Mat3& R);
/**
* Rodrigues vector.
*
* It sets the upper left 3x3 part of the matrix. The remaining part is unaffected.
*
* @param rvec 3x1 rotation vector. The direction indicates the rotation axis and
* its length indicates the rotation angle in radian (using the right thumb convention).
*/
void rotation(const Vec3& rvec);
/**
* Combines rotation methods above. Supports 3x3, 1x3, 3x1 sizes of data matrix.
*
* It sets the upper left 3x3 part of the matrix. The remaining part is unaffected.
*
* @param data 1-channel matrix.
* When it is a 3x3 matrix, it sets the upper left 3x3 part of the current matrix.
* When it is a 1x3 or 3x1 matrix, it is used as a rotation vector. The Rodrigues formula
* is used to compute the rotation matrix and sets the upper left 3x3 part of the current matrix.
*/
void rotation(const Mat& data);
/**
* Copy the 3x3 matrix L to the upper left part of the current matrix
*
* It sets the upper left 3x3 part of the matrix. The remaining part is unaffected.
*
* @param L 3x3 matrix.
*/
void linear(const Mat3& L);
/**
* Copy t to the first three elements of the last column of the current matrix
*
* It sets the upper right 3x1 part of the matrix. The remaining part is unaffected.
*
* @param t 3x1 translation vector.
*/
void translation(const Vec3& t);
//! @return the upper left 3x3 part
Mat3 rotation() const;
//! @return the upper left 3x3 part
Mat3 linear() const;
//! @return the upper right 3x1 part
Vec3 translation() const;
//! Rodrigues vector.
//! @return a vector representing the upper left 3x3 rotation matrix of the current matrix.
//! @warning Since the mapping between rotation vectors and rotation matrices is many to one,
//! this function returns only one rotation vector that represents the current rotation matrix,
//! which is not necessarily the same one set by `rotation(const Vec3& rvec)`.
Vec3 rvec() const;
//! @return the inverse of the current matrix.
Affine3 inv(int method = cv::DECOMP_SVD) const;
//! a.rotate(R) is equivalent to Affine(R, 0) * a;
Affine3 rotate(const Mat3& R) const;
//! a.rotate(rvec) is equivalent to Affine(rvec, 0) * a;
Affine3 rotate(const Vec3& rvec) const;
//! a.translate(t) is equivalent to Affine(E, t) * a, where E is an identity matrix
Affine3 translate(const Vec3& t) const;
//! a.concatenate(affine) is equivalent to affine * a;
Affine3 concatenate(const Affine3& affine) const;
template <typename Y> operator Affine3<Y>() const;
template <typename Y> Affine3<Y> cast() const;
Mat4 matrix;
#if defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H
Affine3(const Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>& affine);
Affine3(const Eigen::Transform<T, 3, Eigen::Affine>& affine);
operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>() const;
operator Eigen::Transform<T, 3, Eigen::Affine>() const;
#endif
};
template<typename T> static
Affine3<T> operator*(const Affine3<T>& affine1, const Affine3<T>& affine2);
//! V is a 3-element vector with member fields x, y and z
template<typename T, typename V> static
V operator*(const Affine3<T>& affine, const V& vector);
typedef Affine3<float> Affine3f;
typedef Affine3<double> Affine3d;
static Vec3f operator*(const Affine3f& affine, const Vec3f& vector);
static Vec3d operator*(const Affine3d& affine, const Vec3d& vector);
template<typename _Tp> class DataType< Affine3<_Tp> >
{
public:
typedef Affine3<_Tp> value_type;
typedef Affine3<typename DataType<_Tp>::work_type> work_type;
typedef _Tp channel_type;
enum { generic_type = 0,
channels = 16,
fmt = traits::SafeFmt<channel_type>::fmt + ((channels - 1) << 8)
#ifdef OPENCV_TRAITS_ENABLE_DEPRECATED
,depth = DataType<channel_type>::depth
,type = CV_MAKETYPE(depth, channels)
#endif
};
typedef Vec<channel_type, channels> vec_type;
};
namespace traits {
template<typename _Tp>
struct Depth< Affine3<_Tp> > { enum { value = Depth<_Tp>::value }; };
template<typename _Tp>
struct Type< Affine3<_Tp> > { enum { value = CV_MAKETYPE(Depth<_Tp>::value, 16) }; };
} // namespace
//! @} core
}
//! @cond IGNORED
///////////////////////////////////////////////////////////////////////////////////
// Implementation
template<typename T> inline
cv::Affine3<T>::Affine3()
: matrix(Mat4::eye())
{}
template<typename T> inline
cv::Affine3<T>::Affine3(const Mat4& affine)
: matrix(affine)
{}
template<typename T> inline
cv::Affine3<T>::Affine3(const Mat3& R, const Vec3& t)
{
rotation(R);
translation(t);
matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
matrix.val[15] = 1;
}
template<typename T> inline
cv::Affine3<T>::Affine3(const Vec3& _rvec, const Vec3& t)
{
rotation(_rvec);
translation(t);
matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
matrix.val[15] = 1;
}
template<typename T> inline
cv::Affine3<T>::Affine3(const cv::Mat& data, const Vec3& t)
{
CV_Assert(data.type() == cv::traits::Type<T>::value);
CV_Assert(data.channels() == 1);
if (data.cols == 4 && data.rows == 4)
{
data.copyTo(matrix);
return;
}
else if (data.cols == 4 && data.rows == 3)
{
rotation(data(Rect(0, 0, 3, 3)));
translation(data(Rect(3, 0, 1, 3)));
}
else
{
rotation(data);
translation(t);
}
matrix.val[12] = matrix.val[13] = matrix.val[14] = 0;
matrix.val[15] = 1;
}
template<typename T> inline
cv::Affine3<T>::Affine3(const float_type* vals) : matrix(vals)
{}
template<typename T> inline
cv::Affine3<T> cv::Affine3<T>::Identity()
{
return Affine3<T>(cv::Affine3<T>::Mat4::eye());
}
template<typename T> inline
void cv::Affine3<T>::rotation(const Mat3& R)
{
linear(R);
}
template<typename T> inline
void cv::Affine3<T>::rotation(const Vec3& _rvec)
{
double theta = norm(_rvec);
if (theta < DBL_EPSILON)
rotation(Mat3::eye());
else
{
double c = std::cos(theta);
double s = std::sin(theta);
double c1 = 1. - c;
double itheta = (theta != 0) ? 1./theta : 0.;
Point3_<T> r = _rvec*itheta;
Mat3 rrt( r.x*r.x, r.x*r.y, r.x*r.z, r.x*r.y, r.y*r.y, r.y*r.z, r.x*r.z, r.y*r.z, r.z*r.z );
Mat3 r_x( 0, -r.z, r.y, r.z, 0, -r.x, -r.y, r.x, 0 );
// R = cos(theta)*I + (1 - cos(theta))*r*rT + sin(theta)*[r_x]
// where [r_x] is [0 -rz ry; rz 0 -rx; -ry rx 0]
Mat3 R = c*Mat3::eye() + c1*rrt + s*r_x;
rotation(R);
}
}
//Combines rotation methods above. Supports 3x3, 1x3, 3x1 sizes of data matrix;
template<typename T> inline
void cv::Affine3<T>::rotation(const cv::Mat& data)
{
CV_Assert(data.type() == cv::traits::Type<T>::value);
CV_Assert(data.channels() == 1);
if (data.cols == 3 && data.rows == 3)
{
Mat3 R;
data.copyTo(R);
rotation(R);
}
else if ((data.cols == 3 && data.rows == 1) || (data.cols == 1 && data.rows == 3))
{
Vec3 _rvec;
data.reshape(1, 3).copyTo(_rvec);
rotation(_rvec);
}
else
CV_Error(Error::StsError, "Input matrix can only be 3x3, 1x3 or 3x1");
}
template<typename T> inline
void cv::Affine3<T>::linear(const Mat3& L)
{
matrix.val[0] = L.val[0]; matrix.val[1] = L.val[1]; matrix.val[ 2] = L.val[2];
matrix.val[4] = L.val[3]; matrix.val[5] = L.val[4]; matrix.val[ 6] = L.val[5];
matrix.val[8] = L.val[6]; matrix.val[9] = L.val[7]; matrix.val[10] = L.val[8];
}
template<typename T> inline
void cv::Affine3<T>::translation(const Vec3& t)
{
matrix.val[3] = t[0]; matrix.val[7] = t[1]; matrix.val[11] = t[2];
}
template<typename T> inline
typename cv::Affine3<T>::Mat3 cv::Affine3<T>::rotation() const
{
return linear();
}
template<typename T> inline
typename cv::Affine3<T>::Mat3 cv::Affine3<T>::linear() const
{
typename cv::Affine3<T>::Mat3 R;
R.val[0] = matrix.val[0]; R.val[1] = matrix.val[1]; R.val[2] = matrix.val[ 2];
R.val[3] = matrix.val[4]; R.val[4] = matrix.val[5]; R.val[5] = matrix.val[ 6];
R.val[6] = matrix.val[8]; R.val[7] = matrix.val[9]; R.val[8] = matrix.val[10];
return R;
}
template<typename T> inline
typename cv::Affine3<T>::Vec3 cv::Affine3<T>::translation() const
{
return Vec3(matrix.val[3], matrix.val[7], matrix.val[11]);
}
template<typename T> inline
typename cv::Affine3<T>::Vec3 cv::Affine3<T>::rvec() const
{
cv::Vec3d w;
cv::Matx33d u, vt, R = rotation();
cv::SVD::compute(R, w, u, vt, cv::SVD::FULL_UV + cv::SVD::MODIFY_A);
R = u * vt;
double rx = R.val[7] - R.val[5];
double ry = R.val[2] - R.val[6];
double rz = R.val[3] - R.val[1];
double s = std::sqrt((rx*rx + ry*ry + rz*rz)*0.25);
double c = (R.val[0] + R.val[4] + R.val[8] - 1) * 0.5;
c = c > 1.0 ? 1.0 : c < -1.0 ? -1.0 : c;
double theta = std::acos(c);
if( s < 1e-5 )
{
if( c > 0 )
rx = ry = rz = 0;
else
{
double t;
t = (R.val[0] + 1) * 0.5;
rx = std::sqrt(std::max(t, 0.0));
t = (R.val[4] + 1) * 0.5;
ry = std::sqrt(std::max(t, 0.0)) * (R.val[1] < 0 ? -1.0 : 1.0);
t = (R.val[8] + 1) * 0.5;
rz = std::sqrt(std::max(t, 0.0)) * (R.val[2] < 0 ? -1.0 : 1.0);
if( fabs(rx) < fabs(ry) && fabs(rx) < fabs(rz) && (R.val[5] > 0) != (ry*rz > 0) )
rz = -rz;
theta /= std::sqrt(rx*rx + ry*ry + rz*rz);
rx *= theta;
ry *= theta;
rz *= theta;
}
}
else
{
double vth = 1/(2*s);
vth *= theta;
rx *= vth; ry *= vth; rz *= vth;
}
return cv::Vec3d(rx, ry, rz);
}
template<typename T> inline
cv::Affine3<T> cv::Affine3<T>::inv(int method) const
{
return matrix.inv(method);
}
template<typename T> inline
cv::Affine3<T> cv::Affine3<T>::rotate(const Mat3& R) const
{
Mat3 Lc = linear();
Vec3 tc = translation();
Mat4 result;
result.val[12] = result.val[13] = result.val[14] = 0;
result.val[15] = 1;
for(int j = 0; j < 3; ++j)
{
for(int i = 0; i < 3; ++i)
{
float_type value = 0;
for(int k = 0; k < 3; ++k)
value += R(j, k) * Lc(k, i);
result(j, i) = value;
}
result(j, 3) = R.row(j).dot(tc.t());
}
return result;
}
template<typename T> inline
cv::Affine3<T> cv::Affine3<T>::rotate(const Vec3& _rvec) const
{
return rotate(Affine3f(_rvec).rotation());
}
template<typename T> inline
cv::Affine3<T> cv::Affine3<T>::translate(const Vec3& t) const
{
Mat4 m = matrix;
m.val[ 3] += t[0];
m.val[ 7] += t[1];
m.val[11] += t[2];
return m;
}
template<typename T> inline
cv::Affine3<T> cv::Affine3<T>::concatenate(const Affine3<T>& affine) const
{
return (*this).rotate(affine.rotation()).translate(affine.translation());
}
template<typename T> template <typename Y> inline
cv::Affine3<T>::operator Affine3<Y>() const
{
return Affine3<Y>(matrix);
}
template<typename T> template <typename Y> inline
cv::Affine3<Y> cv::Affine3<T>::cast() const
{
return Affine3<Y>(matrix);
}
template<typename T> inline
cv::Affine3<T> cv::operator*(const cv::Affine3<T>& affine1, const cv::Affine3<T>& affine2)
{
return affine2.concatenate(affine1);
}
template<typename T, typename V> inline
V cv::operator*(const cv::Affine3<T>& affine, const V& v)
{
const typename Affine3<T>::Mat4& m = affine.matrix;
V r;
r.x = m.val[0] * v.x + m.val[1] * v.y + m.val[ 2] * v.z + m.val[ 3];
r.y = m.val[4] * v.x + m.val[5] * v.y + m.val[ 6] * v.z + m.val[ 7];
r.z = m.val[8] * v.x + m.val[9] * v.y + m.val[10] * v.z + m.val[11];
return r;
}
static inline
cv::Vec3f cv::operator*(const cv::Affine3f& affine, const cv::Vec3f& v)
{
const cv::Matx44f& m = affine.matrix;
cv::Vec3f r;
r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[ 2] * v[2] + m.val[ 3];
r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[ 6] * v[2] + m.val[ 7];
r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11];
return r;
}
static inline
cv::Vec3d cv::operator*(const cv::Affine3d& affine, const cv::Vec3d& v)
{
const cv::Matx44d& m = affine.matrix;
cv::Vec3d r;
r.val[0] = m.val[0] * v[0] + m.val[1] * v[1] + m.val[ 2] * v[2] + m.val[ 3];
r.val[1] = m.val[4] * v[0] + m.val[5] * v[1] + m.val[ 6] * v[2] + m.val[ 7];
r.val[2] = m.val[8] * v[0] + m.val[9] * v[1] + m.val[10] * v[2] + m.val[11];
return r;
}
#if defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H
template<typename T> inline
cv::Affine3<T>::Affine3(const Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>& affine)
{
cv::Mat(4, 4, cv::traits::Type<T>::value, affine.matrix().data()).copyTo(matrix);
}
template<typename T> inline
cv::Affine3<T>::Affine3(const Eigen::Transform<T, 3, Eigen::Affine>& affine)
{
Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)> a = affine;
cv::Mat(4, 4, cv::traits::Type<T>::value, a.matrix().data()).copyTo(matrix);
}
template<typename T> inline
cv::Affine3<T>::operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>() const
{
Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)> r;
cv::Mat hdr(4, 4, cv::traits::Type<T>::value, r.matrix().data());
cv::Mat(matrix, false).copyTo(hdr);
return r;
}
template<typename T> inline
cv::Affine3<T>::operator Eigen::Transform<T, 3, Eigen::Affine>() const
{
return this->operator Eigen::Transform<T, 3, Eigen::Affine, (Eigen::RowMajor)>();
}
#endif /* defined EIGEN_WORLD_VERSION && defined EIGEN_GEOMETRY_MODULE_H */
//! @endcond
#endif /* __cplusplus */
#endif /* OPENCV_CORE_AFFINE3_HPP */

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