diff --git a/CHANGELOG.md b/CHANGELOG.md new file mode 100644 --- /dev/null +++ b/CHANGELOG.md @@ -0,0 +1,21 @@ +## [0.0.1.0] - 2017-06-20 + +### Added + +- OpenCV.Calib3d: findHomography. +- OpenCV.Core.ArrayOps: hconcat, vconcat. +- include/hsc_macros.hpp: #alignof macro. + +### Changed + +- Fix build on OS X. +- Add source repo to cabal file. +- Reference opencv-extra and the examples from the Cabal package description. + + +## 0.0.0.0 - 2017-06-11 + +- Initial version + + +[0.0.1.0]: https://github.com/LumiGuide/haskell-opencv/compare/opencv-0.0.0.0...opencv-0.0.1.0 diff --git a/LICENSE b/LICENSE --- a/LICENSE +++ b/LICENSE @@ -1,4 +1,4 @@ -Copyright 2015—2016 Lumi Guide Fietsdetectie B.V. +Copyright 2015–2017 Lumi Guide Fietsdetectie B.V. All rights reserved. diff --git a/Setup.hs b/Setup.hs --- a/Setup.hs +++ b/Setup.hs @@ -3,6 +3,6 @@ main = do args <- getArgs - let args' | "configure" `elem` args = args ++ ["--with-gcc","g++", "--with-ld","g++"] + let args' | "configure" `elem` args = args ++ ["--with-gcc","c++", "--with-ld","c++"] | otherwise = args defaultMainArgs args' diff --git a/data/haskell-opencv-logo-200x82.png b/data/haskell-opencv-logo-200x82.png new file mode 100644 Binary files /dev/null and b/data/haskell-opencv-logo-200x82.png differ diff --git a/doc/generated/examples/car.gif b/doc/generated/examples/car.gif new file mode 100644 # file too large to diff: doc/generated/examples/car.gif diff --git a/doc/generated/examples/drawChArUcoBoardImg.png b/doc/generated/examples/drawChArUcoBoardImg.png new file mode 100644 Binary files /dev/null and b/doc/generated/examples/drawChArUcoBoardImg.png differ diff --git a/doc/generated/examples/hconcatImg.png b/doc/generated/examples/hconcatImg.png new file mode 100644 Binary files /dev/null and b/doc/generated/examples/hconcatImg.png differ diff --git a/doc/generated/examples/mog2.gif b/doc/generated/examples/mog2.gif new file mode 100644 Binary files /dev/null and b/doc/generated/examples/mog2.gif differ diff --git a/doc/generated/examples/vconcatImg.png b/doc/generated/examples/vconcatImg.png new file mode 100644 Binary files /dev/null and b/doc/generated/examples/vconcatImg.png differ diff --git a/include/hsc_macros.hpp b/include/hsc_macros.hpp --- a/include/hsc_macros.hpp +++ b/include/hsc_macros.hpp @@ -10,6 +10,8 @@ #define bc_sizeof_varid(name) {printf("c'sizeof_");bc_word(name);}; \ +#define bc_alignof_varid(name) {printf("c'alignof_");bc_word(name);}; \ + /* The #sizeof macro outputs a Haskell constant with the size of the C/C++ type in bytes. @@ -25,6 +27,25 @@ #define hsc_sizeof(name) \ { bc_sizeof_varid(# name);printf(" :: Int\n"); \ bc_sizeof_varid(# name);printf(" = %lu\n", sizeof(name)); \ + }; \ + +/* +The #alignof macro outputs a Haskell constant with the alignment off the C/C++ type in bytes. + +For example the following: + + #alignof Point2i + +Results in the following Haskell code: + + c'alignof_Point2i :: Int + c'alignof_Point2i = 4 + +The specific alignment that is calculated is platform dependent. +*/ +#define hsc_alignof(name) \ + { bc_alignof_varid(# name);printf(" :: Int\n"); \ + bc_alignof_varid(# name);printf(" = %lu\n", alignof(name)); \ }; \ #endif /* __HSC_MACROS_H__ */ diff --git a/opencv.cabal b/opencv.cabal --- a/opencv.cabal +++ b/opencv.cabal @@ -1,6 +1,7 @@ name: opencv -version: 0.0.0.0 +version: 0.0.1.0 homepage: https://github.com/LumiGuide/haskell-opencv +bug-reports: https://github.com/LumiGuide/haskell-opencv/issues license: BSD3 license-file: LICENSE author: Roel van Dijk , Bas van Dijk @@ -9,13 +10,22 @@ cabal-version: >=1.23 category: AI, Graphics synopsis: Haskell binding to OpenCV-3.x -description: This is a Haskell library providing a binding to OpenCV-3.x. +description: <> + . + This is a Haskell library providing a binding to OpenCV-3.x. It binds directly with the C++ API using the @inline-c@ Haskell library. . The library is far from complete but the framework is there to easily bind missing functionality. + . + Note that the OpenCV contrib modules are provided by + . + . + Make sure to checkout the + . extra-source-files: + CHANGELOG.md data/*.png data/*.jpg @@ -25,6 +35,11 @@ doc/generated/examples/*.gif doc/color_conversions.png +source-repository head + type: git + location: git://github.com/LumiGuide/haskell-opencv.git + subdir: opencv + flag internal-documentation description: Enables documentation generation for internal modules. default: False @@ -37,46 +52,46 @@ hs-source-dirs: src include-dirs: include install-includes: - haskell_opencv_matx_typedefs.hpp - hsc_macros.hpp - namespace.hpp - orb.hpp - simple_blob_detector.hpp - termcriteria.hpp - video_motion_analysis.hpp + haskell_opencv_matx_typedefs.hpp + hsc_macros.hpp + namespace.hpp + orb.hpp + simple_blob_detector.hpp + termcriteria.hpp + video_motion_analysis.hpp c-sources: src/OpenCV/Calib3d.cpp - , src/OpenCV/Core/ArrayOps.cpp - , src/OpenCV/Core/Types.cpp - , src/OpenCV/Core/Types/Mat.cpp - , src/OpenCV/Core/Types/Mat/Repa.cpp - , src/OpenCV/Core/Types/Matx.cpp - , src/OpenCV/Core/Types/Point.cpp - , src/OpenCV/Core/Types/Rect.cpp - , src/OpenCV/Core/Types/Size.cpp - , src/OpenCV/Core/Types/Vec.cpp - , src/OpenCV/Features2d.cpp - , src/OpenCV/HighGui.cpp - , src/OpenCV/ImgCodecs.cpp - , src/OpenCV/ImgProc/ColorMaps.cpp - , src/OpenCV/ImgProc/Drawing.cpp - , src/OpenCV/ImgProc/FeatureDetection.cpp - , src/OpenCV/ImgProc/GeometricImgTransform.cpp - , src/OpenCV/ImgProc/ImgFiltering.cpp - , src/OpenCV/ImgProc/MiscImgTransform.cpp - , src/OpenCV/ImgProc/ObjectDetection.cpp - , src/OpenCV/ImgProc/StructuralAnalysis.cpp - , src/OpenCV/ImgProc/CascadeClassifier.cpp - , src/OpenCV/Internal/Core/Types.cpp - , src/OpenCV/Internal/Core/Types/Mat.cpp - , src/OpenCV/Internal/Core/Types/Mat/ToFrom.cpp - , src/OpenCV/Internal/Exception.cpp - , src/OpenCV/Photo.cpp - , src/OpenCV/Video.cpp - , src/OpenCV/VideoIO/VideoCapture.cpp - , src/OpenCV/VideoIO/VideoWriter.cpp - , src/OpenCV/Video/MotionAnalysis.cpp + src/OpenCV/Core/ArrayOps.cpp + src/OpenCV/Core/Types.cpp + src/OpenCV/Core/Types/Mat.cpp + src/OpenCV/Core/Types/Mat/Repa.cpp + src/OpenCV/Core/Types/Matx.cpp + src/OpenCV/Core/Types/Point.cpp + src/OpenCV/Core/Types/Rect.cpp + src/OpenCV/Core/Types/Size.cpp + src/OpenCV/Core/Types/Vec.cpp + src/OpenCV/Features2d.cpp + src/OpenCV/HighGui.cpp + src/OpenCV/ImgCodecs.cpp + src/OpenCV/ImgProc/ColorMaps.cpp + src/OpenCV/ImgProc/Drawing.cpp + src/OpenCV/ImgProc/FeatureDetection.cpp + src/OpenCV/ImgProc/GeometricImgTransform.cpp + src/OpenCV/ImgProc/ImgFiltering.cpp + src/OpenCV/ImgProc/MiscImgTransform.cpp + src/OpenCV/ImgProc/ObjectDetection.cpp + src/OpenCV/ImgProc/StructuralAnalysis.cpp + src/OpenCV/ImgProc/CascadeClassifier.cpp + src/OpenCV/Internal/Core/Types.cpp + src/OpenCV/Internal/Core/Types/Mat.cpp + src/OpenCV/Internal/Core/Types/Mat/ToFrom.cpp + src/OpenCV/Internal/Exception.cpp + src/OpenCV/Photo.cpp + src/OpenCV/Video.cpp + src/OpenCV/VideoIO/VideoCapture.cpp + src/OpenCV/VideoIO/VideoWriter.cpp + src/OpenCV/Video/MotionAnalysis.cpp cc-options: -Wall -std=c++11 ghc-options: -Wall -fwarn-incomplete-patterns -funbox-strict-fields -O2 @@ -199,8 +214,9 @@ type: exitcode-stdio-1.0 hs-source-dirs: doc main-is: images.hs - other-modules: ExampleExtractor - Language.Haskell.Meta.Syntax.Translate + other-modules: + ExampleExtractor + Language.Haskell.Meta.Syntax.Translate default-language: Haskell2010 ghc-options: -Wall -fwarn-incomplete-patterns -threaded -funbox-strict-fields -O2 -rtsopts build-depends: @@ -213,7 +229,7 @@ , haskell-src-exts >= 1.18.2 , JuicyPixels >= 3.2.8.1 , linear >= 1.20.4 - , opencv == 0.0.0 + , opencv , primitive >= 0.6.1 , template-haskell >= 2.10 , text >= 1.2.2.1 @@ -243,7 +259,7 @@ , bytestring >= 0.10.6 , lens >= 4.13 , linear >= 1.20.4 - , opencv == 0.0.0 + , opencv , QuickCheck >= 2.8.2 , repa >= 3.4.0.2 , tasty >= 0.11.0.2 @@ -270,7 +286,7 @@ base >= 4.8 && < 5 , bytestring >= 0.10.6 , criterion >= 1.1.1 - , opencv == 0.0.0 + , opencv , repa >= 3.4.0.2 default-extensions: diff --git a/src/OpenCV/Calib3d.cpp b/src/OpenCV/Calib3d.cpp --- a/src/OpenCV/Calib3d.cpp +++ b/src/OpenCV/Calib3d.cpp @@ -34,7 +34,36 @@ } extern "C" { -Exception * inline_c_OpenCV_Calib3d_1_6580eb89fe56557059d953009d36dacf9f92ae43(Point2d * pointsPtr_inline_c_0, int32_t cnumPoints_27_inline_c_1, int32_t cwhichImage_27_inline_c_2, Mat * fmPtr_inline_c_3, Mat * epilinesPtr_inline_c_4) { +Exception * inline_c_OpenCV_Calib3d_1_977ea2515e09e42791f45dfd690308962ddb21ad(Point2d * srcPtr_inline_c_0, int32_t cnumSrcPts_27_inline_c_1, Point2d * dstPtr_inline_c_2, int32_t cnumDstPts_27_inline_c_3, Mat * fmPtr_inline_c_4, int32_t cmethod_27_inline_c_5, double cransacReprojThreshold_27_inline_c_6, Mat * pointMaskPtr_inline_c_7, int32_t cmaxIters_27_inline_c_8, double cconfidence_27_inline_c_9) { + + try + { + cv::_InputArray srcPts = cv::_InputArray(srcPtr_inline_c_0, cnumSrcPts_27_inline_c_1); + cv::_InputArray dstPts = cv::_InputArray(dstPtr_inline_c_2, cnumDstPts_27_inline_c_3); + *fmPtr_inline_c_4 = + cv::findHomography + ( srcPts + , dstPts + , cmethod_27_inline_c_5 + , cransacReprojThreshold_27_inline_c_6 + , *pointMaskPtr_inline_c_7 + , cmaxIters_27_inline_c_8 + , cconfidence_27_inline_c_9 + ); + + return NULL; + } + catch (const cv::Exception & e) + { + return new cv::Exception(e); + } + +} + +} + +extern "C" { +Exception * inline_c_OpenCV_Calib3d_2_6580eb89fe56557059d953009d36dacf9f92ae43(Point2d * pointsPtr_inline_c_0, int32_t cnumPoints_27_inline_c_1, int32_t cwhichImage_27_inline_c_2, Mat * fmPtr_inline_c_3, Mat * epilinesPtr_inline_c_4) { try { diff --git a/src/OpenCV/Calib3d.hs b/src/OpenCV/Calib3d.hs --- a/src/OpenCV/Calib3d.hs +++ b/src/OpenCV/Calib3d.hs @@ -3,9 +3,12 @@ module OpenCV.Calib3d ( FundamentalMatMethod(..) + , FindHomographyMethod(..) + , FindHomographyParams(..) , WhichImage(..) -- , calibrateCamera , findFundamentalMat + , findHomography , computeCorrespondEpilines ) where @@ -14,6 +17,7 @@ import "base" Foreign.C.Types import qualified "inline-c" Language.C.Inline as C import qualified "inline-c-cpp" Language.C.Inline.Cpp as C +import "data-default" Data.Default import "this" OpenCV.Internal.C.Inline ( openCvCtx ) import "this" OpenCV.Internal.C.Types import "this" OpenCV.Internal.Calib3d.Constants @@ -57,6 +61,24 @@ Image1 -> 1 Image2 -> 2 +data FindHomographyMethod + = FindHomographyMethod_0 + -- ^ A regular method using all the points. + | FindHomographyMethod_RANSAC + -- ^ RANSAC-based robust method. + | FindHomographyMethod_LMEDS + -- ^ Least-Median robust method. + | FindHomographyMethod_RHO + -- ^ PROSAC-based robust method. + deriving (Show) + +marshalFindHomographyMethod :: FindHomographyMethod -> Int32 +marshalFindHomographyMethod = \case + FindHomographyMethod_0 -> 0 + FindHomographyMethod_RANSAC -> c'RANSAC + FindHomographyMethod_LMEDS -> c'LMEDS + FindHomographyMethod_RHO -> c'RHO + -------------------------------------------------------------------------------- -- {- | @@ -110,7 +132,7 @@ findFundamentalMat pts1 pts2 method = do (fm, pointMask) <- c'findFundamentalMat -- If the c++ function can't find a fundamental matrix it will - -- retrun an empty matrix. We check for this case by trying to + -- return an empty matrix. We check for this case by trying to -- coerce the result to the desired type. catchE (Just . (, unsafeCoerceMat pointMask) <$> coerceMat fm) (\case CoerceMatError _msgs -> pure Nothing @@ -118,7 +140,7 @@ ) where c'findFundamentalMat = unsafeWrapException $ do - fm <- newEmptyMat + fm <- newEmptyMat pointMask <- newEmptyMat handleCvException (pure (fm, pointMask)) $ withPtr fm $ \fmPtr -> @@ -142,6 +164,70 @@ c'numPts1 = fromIntegral $ V.length pts1 c'numPts2 = fromIntegral $ V.length pts2 (c'method, c'p1, c'p2) = marshalFundamentalMatMethod method + +data FindHomographyParams + = FindHomographyParams + { fhpMethod :: !FindHomographyMethod + , fhpRansacReprojThreshold :: !Double + , fhpMaxIters :: !Int + , fhpConfidence :: !Double + } deriving (Show) + +instance Default FindHomographyParams where + def = FindHomographyParams + { fhpMethod = FindHomographyMethod_0 + , fhpRansacReprojThreshold = 3 + , fhpMaxIters = 2000 + , fhpConfidence = 0.995 + } + +findHomography + :: (IsPoint2 point2 CDouble) + => V.Vector (point2 CDouble) -- ^ Points from the first image. + -> V.Vector (point2 CDouble) -- ^ Points from the second image. + -> FindHomographyParams + -> CvExcept ( Maybe ( Mat ('S '[ 'S 3, 'S 3 ]) ('S 1) ('S Double) + , Mat ('S '[ 'D, 'D ]) ('S 1) ('S Word8 ) + ) + ) +findHomography srcPoints dstPoints fhp = do + (fm, pointMask) <- c'findHomography + -- If the c++ function can't find a fundamental matrix it will + -- return an empty matrix. We check for this case by trying to + -- coerce the result to the desired type. + catchE (Just . (, unsafeCoerceMat pointMask) <$> coerceMat fm) + (\case CoerceMatError _msgs -> pure Nothing + otherError -> throwE otherError + ) + where + c'findHomography = unsafeWrapException $ do + fm <- newEmptyMat + pointMask <- newEmptyMat + handleCvException (pure (fm, pointMask)) $ + withPtr fm $ \fmPtr -> + withPtr pointMask $ \pointMaskPtr -> + withArrayPtr (V.map toPoint srcPoints) $ \srcPtr -> + withArrayPtr (V.map toPoint dstPoints) $ \dstPtr -> + [cvExcept| + cv::_InputArray srcPts = cv::_InputArray($(Point2d * srcPtr), $(int32_t c'numSrcPts)); + cv::_InputArray dstPts = cv::_InputArray($(Point2d * dstPtr), $(int32_t c'numDstPts)); + *$(Mat * fmPtr) = + cv::findHomography + ( srcPts + , dstPts + , $(int32_t c'method) + , $(double c'ransacReprojThreshold) + , *$(Mat * pointMaskPtr) + , $(int32_t c'maxIters) + , $(double c'confidence) + ); + |] + c'numSrcPts = fromIntegral $ V.length srcPoints + c'numDstPts = fromIntegral $ V.length dstPoints + c'method = marshalFindHomographyMethod $ fhpMethod fhp + c'ransacReprojThreshold = realToFrac $ fhpRansacReprojThreshold fhp + c'maxIters = fromIntegral $ fhpMaxIters fhp + c'confidence = realToFrac $ fhpConfidence fhp {- | For points in an image of a stereo pair, computes the corresponding epilines in the other image diff --git a/src/OpenCV/Core/ArrayOps.cpp b/src/OpenCV/Core/ArrayOps.cpp --- a/src/OpenCV/Core/ArrayOps.cpp +++ b/src/OpenCV/Core/ArrayOps.cpp @@ -439,3 +439,47 @@ } } + +extern "C" { +Exception * inline_c_OpenCV_Core_ArrayOps_24_c4b844a405cfe807dac35ef495bd740db3789b10(Mat * matsPtr_inline_c_0, size_t cnumMats_27_inline_c_1, Mat * dstPtr_inline_c_2) { + + try + { + cv::hconcat + ( matsPtr_inline_c_0 + , cnumMats_27_inline_c_1 + , *dstPtr_inline_c_2 + ); + + return NULL; + } + catch (const cv::Exception & e) + { + return new cv::Exception(e); + } + +} + +} + +extern "C" { +Exception * inline_c_OpenCV_Core_ArrayOps_25_f90bb8ea407f21af89dacdb7a4893fb6db43264c(Mat * matsPtr_inline_c_0, size_t cnumMats_27_inline_c_1, Mat * dstPtr_inline_c_2) { + + try + { + cv::vconcat + ( matsPtr_inline_c_0 + , cnumMats_27_inline_c_1 + , *dstPtr_inline_c_2 + ); + + return NULL; + } + catch (const cv::Exception & e) + { + return new cv::Exception(e); + } + +} + +} diff --git a/src/OpenCV/Core/ArrayOps.hs b/src/OpenCV/Core/ArrayOps.hs --- a/src/OpenCV/Core/ArrayOps.hs +++ b/src/OpenCV/Core/ArrayOps.hs @@ -44,6 +44,8 @@ , meanStdDev , matFlip, FlipDirection(..) , matTranspose + , hconcat + , vconcat ) where import "base" Data.Proxy ( Proxy(..) ) @@ -922,3 +924,77 @@ cv::transpose(*$(Mat * srcPtr), *$(Mat * dstPtr)); }|] pure $ unsafeCoerceMat dst + +{- | Applies horizontal concatenation to given matrices. + +Example: + +@ +hconcatImg :: Mat ('S '[ 'D, 'D ]) ('S 3) ('S Word8) +hconcatImg = exceptError $ + hconcat $ V.fromList + [ halfSize birds_768x512 + , halfSize flower_768x512 + , halfSize sailboat_768x512 + ] + where + halfSize = exceptError . resize (ResizeRel 0.5) InterArea +@ + +<> +-} +hconcat + :: V.Vector (Mat ('S '[rows, 'D]) channels depth) + -> CvExcept (Mat ('S '[rows, 'D]) channels depth) +hconcat mats = unsafeWrapException $ do + dst <- unsafeCoerceMat <$> newEmptyMat + handleCvException (pure dst) $ + withArrayPtr mats $ \matsPtr -> + withPtr dst $ \dstPtr -> + [cvExcept| + cv::hconcat + ( $(Mat * matsPtr) + , $(size_t c'numMats) + , *$(Mat * dstPtr) + ); + |] + where + c'numMats :: C.CSize + c'numMats = fromIntegral $ V.length mats + +{- | Applies vertical concatenation to given matrices. + +Example: + +@ +vconcatImg :: Mat ('S '[ 'D, 'D ]) ('S 3) ('S Word8) +vconcatImg = exceptError $ + vconcat $ V.fromList + [ halfSize birds_768x512 + , halfSize flower_768x512 + , halfSize sailboat_768x512 + ] + where + halfSize = exceptError . resize (ResizeRel 0.5) InterArea +@ + +<> +-} +vconcat + :: V.Vector (Mat ('S '[ 'D, cols ]) channels depth) + -> CvExcept (Mat ('S '[ 'D, cols ]) channels depth) +vconcat mats = unsafeWrapException $ do + dst <- unsafeCoerceMat <$> newEmptyMat + handleCvException (pure dst) $ + withArrayPtr mats $ \matsPtr -> + withPtr dst $ \dstPtr -> + [cvExcept| + cv::vconcat + ( $(Mat * matsPtr) + , $(size_t c'numMats) + , *$(Mat * dstPtr) + ); + |] + where + c'numMats :: C.CSize + c'numMats = fromIntegral $ V.length mats diff --git a/src/OpenCV/Internal/Calib3d/Constants.hsc b/src/OpenCV/Internal/Calib3d/Constants.hsc --- a/src/OpenCV/Internal/Calib3d/Constants.hsc +++ b/src/OpenCV/Internal/Calib3d/Constants.hsc @@ -16,3 +16,8 @@ #num CV_FM_8POINT #num CV_FM_RANSAC #num CV_FM_LMEDS + +#num LMEDS +#num RANSAC +#num RHO +