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586 lines
20 KiB
C++
586 lines
20 KiB
C++
#ifndef OPENCV_BRIDGE_HPP_
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#define OPENCV_BRIDGE_HPP_
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#include "mex.h"
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#include <vector>
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#include <string>
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#include <opencv2/core.hpp>
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#include <opencv2/calib3d.hpp>
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#include <ext/hash_map>
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/*
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* All recent versions of Matlab ship with the MKL library which contains
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* a blas extension called mkl_?omatcopy(). This defines an out-of-place
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* copy and transpose operation.
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*
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* The mkl library is in ${MATLAB_ROOT}/bin/${MATLAB_MEXEXT}/libmkl...
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* Matlab does not ship headers for the mkl functions, so we define them
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* here.
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*
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* This operation is used extensively to copy between Matlab's column-major
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* format and OpenCV's row-major format.
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*/
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#ifdef __cplusplus
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extern "C" {
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#endif
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void mkl_somatcopy(char, char, size_t, size_t, const float, const float*, size_t, float*, size_t);
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void mkl_domatcopy(char, char, size_t, size_t, const double, const double*, size_t, double*, size_t);
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#ifdef __cplusplus
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}
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#endif
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/*
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* Custom typedefs
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* Parsed names from the hdr_parser
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*/
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typedef std::vector<cv::Mat> vector_Mat;
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typedef std::vector<cv::Point> vector_Point;
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typedef std::vector<int> vector_int;
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typedef std::vector<float> vector_float;
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typedef std::vector<cv::String> vector_String;
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typedef std::vector<unsigned char> vector_uchar;
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typedef std::vector<cv::Rect> vector_Rect;
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typedef std::vector<cv::KeyPoint> vector_KeyPoint;
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typedef cv::Ptr<cv::StereoBM> Ptr_StereoBM;
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typedef cv::Ptr<cv::StereoSGBM> Ptr_StereoSGBM;
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typedef cv::Ptr<cv::FeatureDetector> Ptr_FeatureDetector;
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void conditionalError(bool expr, const std::string& str) {
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if (!expr) mexErrMsgTxt(std::string("condition failed: ").append(str).c_str());
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}
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void error(const std::string& str) {
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mexErrMsgTxt(str.c_str());
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}
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namespace Matlab {
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class DefaultTraits {};
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class InheritType {};
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static const int Dynamic = -1;
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// --------------------------------------------------------------------------
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// INTERNAL TRAITS CLASS
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// --------------------------------------------------------------------------
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template<typename _Tp = DefaultTraits> class Traits {
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public:
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static const mxClassID ScalarType = mxUNKNOWN_CLASS;
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static const mxComplexity Complex = mxCOMPLEX;
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static const mxComplexity Real = mxCOMPLEX;
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};
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// bool
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template<> class Traits<bool> {
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public:
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static const mxClassID ScalarType = mxLOGICAL_CLASS;
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};
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// uint8_t
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template<> class Traits<uint8_t> {
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public:
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static const mxClassID ScalarType = mxUINT8_CLASS;
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};
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// int8_t
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template<> class Traits<int8_t> {
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public:
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static const mxClassID ScalarType = mxINT8_CLASS;
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};
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// uint16_t
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template<> class Traits<uint16_t> {
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public:
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static const mxClassID ScalarType = mxUINT16_CLASS;
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};
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// int16_t
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template<> class Traits<int16_t> {
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public:
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static const mxClassID ScalarType = mxINT16_CLASS;
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};
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// uint32_t
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template<> class Traits<uint32_t> {
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public:
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static const mxClassID ScalarType = mxUINT32_CLASS;
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};
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// int32_t
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template<> class Traits<int32_t> {
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public:
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static const mxClassID ScalarType = mxINT32_CLASS;
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};
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// uint64_t
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template<> class Traits<uint64_t> {
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public:
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static const mxClassID ScalarType = mxUINT64_CLASS;
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};
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// int64_t
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template<> class Traits<int64_t> {
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public:
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static const mxClassID ScalarType = mxINT64_CLASS;
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};
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// float
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template<> class Traits<float> {
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public:
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static const mxClassID ScalarType = mxSINGLE_CLASS;
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};
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// double
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template<> class Traits<double> {
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public:
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static const mxClassID ScalarType = mxDOUBLE_CLASS;
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};
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// size_t
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template<> class Traits<size_t> {
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public:
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static const mxClassID ScalarType = (sizeof(size_t) == 4) ? mxUINT32_CLASS : mxUINT64_CLASS;
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};
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// char
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template<> class Traits<char> {
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public:
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static const mxClassID ScalarType = mxCHAR_CLASS;
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};
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};
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// ----------------------------------------------------------------------------
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// MXARRAY
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// ----------------------------------------------------------------------------
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/*!
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* @class MxArray
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* @brief A thin wrapper around Matlab's mxArray types
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*
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* MxArray provides a thin object oriented wrapper around Matlab's
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* native mxArray type which exposes most of the functionality of the
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* Matlab interface, but in a more C++ manner.
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*/
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class MxArray {
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private:
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mxArray* ptr_;
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bool owns_;
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public:
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MxArray() : ptr_(NULL), owns_(false) {}
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MxArray(const mxArray* ptr) : ptr_(const_cast<mxArray *>(ptr)), owns_(false) {}
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~MxArray() {
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if (owns_ && ptr_) mxDestroyArray(ptr_);
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}
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/*
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* @brief release ownership to allow return into Matlab workspace
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*
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* MxArray is not directly convertible back to mxArray types through assignment
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* because the MxArray may have been allocated on the free store, making it impossible
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* to know whether the returned pointer will be released by someone else or not.
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*
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* Since Matlab requires mxArrays be passed back into the workspace, the only way
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* to achieve that is through this function, which explicitly releases ownership
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* of the object, assuming the Matlab interpreter receving the object will delete
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* it at a later time
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*
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* e.g.
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* {
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* MxArray A<double>(5, 5); // allocates memory
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* MxArray B<double>(5, 5); // ditto
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* plhs[0] = A; // not allowed!!
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* plhs[0] = A.releaseOwnership(); // makes explicit that ownership is being released
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* } // end of scope. B is released, A isn't
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*
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*/
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mxArray* releaseOwnership() {
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owns_ = false;
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return ptr_;
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}
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// TODO: Make sure NULL pointers are checked in all functions!
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template <typename Scalar>
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explicit MxArray(size_t m, size_t n, size_t k=1) : owns_(true) {
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mwSize dims[] = {m, n, k};
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ptr_ = mxCreateNumericArray(3, dims, Matlab::Traits<Scalar>::ScalarType, Matlab::Traits<>::Real);
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}
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template <typename Scalar>
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explicit MxArray(const cv::Mat& mat) : owns_(true) {
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mwSize dims[] = { mat.rows, mat.cols, mat.channels() };
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if (mat.channels() == 2) {
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ptr_ = mxCreateNumericArray(2, dims, Matlab::Traits<Scalar>::ScalarType, Matlab::Traits<>::Complex);
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} else {
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ptr_ = mxCreateNumericArray(2, dims, Matlab::Traits<Scalar>::ScalarType, Matlab::Traits<>::Real);
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}
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}
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template <typename Scalar>
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cv::Mat toMat() const {
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cv::Mat mat(cols(), rows(), CV_MAKETYPE(cv::DataType<Scalar>::type, channels()));
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return mat;
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}
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template <typename Scalar>
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void fromMat(const cv::Mat& mat) {
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}
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MxArray field(const std::string& name) { return MxArray(mxGetField(ptr_, 0, name.c_str())); }
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template <typename Scalar>
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Scalar* real() { return static_cast<Scalar *>(mxGetData(ptr_)); }
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template <typename Scalar>
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Scalar* imag() { return static_cast<Scalar *>(mxGetData(ptr_)); }
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template <typename Scalar>
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const Scalar* real() const { return static_cast<const Scalar *>(mxGetData(ptr_)); }
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template <typename Scalar>
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const Scalar* imag() const { return static_cast<const Scalar *>(mxGetData(ptr_)); }
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template <typename Scalar>
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Scalar scalar() const { return static_cast<Scalar *>(mxGetData(ptr_))[0]; }
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std::string toString() const {
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conditionalError(isString(), "Attempted to convert non-string type to string");
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std::string str;
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str.reserve(size()+1);
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mxGetString(ptr_, const_cast<char *>(str.data()), str.size());
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return str;
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}
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size_t size() const { return mxGetNumberOfElements(ptr_); }
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size_t rows() const { return mxGetM(ptr_); }
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size_t cols() const { return mxGetN(ptr_); }
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size_t channels() const { return (mxGetNumberOfDimensions(ptr_) > 2) ? mxGetDimensions(ptr_)[2] : 1; }
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bool isComplex() const { return mxIsComplex(ptr_); }
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bool isNumeric() const { return mxIsNumeric(ptr_); }
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bool isLogical() const { return mxIsLogical(ptr_); }
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bool isString() const { return mxIsChar(ptr_); }
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bool isCell() const { return mxIsCell(ptr_); }
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bool isStructure() const { return mxIsStruct(ptr_); }
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bool isClass(const std::string& name) const { return mxIsClass(ptr_, name.c_str()); }
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std::string className() const { return std::string(mxGetClassName(ptr_)); }
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mxClassID ID() const { return mxGetClassID(ptr_); }
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};
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template <>
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cv::Mat MxArray::toMat<Matlab::InheritType>() const {
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return cv::Mat();
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}
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template <>
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void MxArray::fromMat<Matlab::InheritType>(const cv::Mat& mat) {
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}
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// ----------------------------------------------------------------------------
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// MATRIX TRANSPOSE
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// ----------------------------------------------------------------------------
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template <typename InputScalar, typename OutputScalar>
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void deepCopyAndTranspose(const cv::Mat& src, MxArray& dst) {
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}
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template <typename InputScalar, typename OutputScalar>
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void deepCopyAndTranspose(const MxArray& src, cv::Mat& dst) {
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}
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template <>
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void deepCopyAndTranspose<float, float>(const cv::Mat& src, MxArray& dst) {
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}
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template <>
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void deepCopyAndTranspose<double, double>(const cv::Mat& src, MxArray& dst) {
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}
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template <>
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void deepCopyAndTranspose<float, float>(const MxArray& src, cv::Mat& dst) {
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}
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template <>
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void deepCopyAndTranspose<double, double>(const MxArray& src, cv::Mat& dst) {
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}
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// ----------------------------------------------------------------------------
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// BRIDGE
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// ----------------------------------------------------------------------------
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/*!
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* @class Bridge
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* @brief Type conversion class for converting OpenCV and native C++ types
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*
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* Bridge provides an interface for converting between OpenCV/C++ types
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* to Matlab's mxArray format.
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*
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* Each type conversion requires three operators:
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* // conversion from ObjectType --> Bridge
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* Bridge& operator=(const ObjectType&);
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* // implicit conversion from Bridge --> ObjectType
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* operator ObjectType();
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* // explicit conversion from Bridge --> ObjectType
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* ObjectType toObjectType();
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*
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* The bridging class provides common conversions between OpenCV types,
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* std and stl types to Matlab's mxArray format. By inheriting Bridge,
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* you can add your own custom type conversions.
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*
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* Because Matlab uses a homogeneous storage type, all operations are provided
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* relative to Matlab's type. That is, Bridge always stores an MxArray object
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* and converts to and from other object types on demand.
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*
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* NOTE: for the explicit conversion function, the object name must be
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* in UpperCamelCase, for example:
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* int --> toInt
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* my_object --> MyObject
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* my_Object --> MyObject
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* myObject --> MyObject
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* this is because the binding generator standardises the calling syntax.
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*
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* Bridge attempts to make as few assumptions as possible, however in
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* some cases where 1-to-1 mappings don't exist, some assumptions are necessary.
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* In particular:
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* - conversion from of a 2-channel Mat to an mxArray will result in a complex
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* output
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* - conversion from multi-channel interleaved Mats will result in
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* multichannel planar mxArrays
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*
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*/
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class Bridge {
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private:
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MxArray ptr_;
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public:
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// bridges are default constructible
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Bridge() {}
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virtual ~Bridge() {}
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/*! @brief unpack an object from Matlab into C++
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*
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* this function checks whether the given bridge is derived from an
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* object in Matlab. If so, it converts it to a (platform dependent)
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* pointer to the underlying C++ object.
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*
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* NOTE! This function assumes that the C++ pointer is stored in inst_
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*/
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template <typename Object>
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Object* getObjectByName(const std::string& name) {
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// check that the object is actually of correct type before unpacking
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// TODO: Traverse class hierarchy?
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if (!ptr_.isClass(name)) {
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error(std::string("Expected class ").append(std::string(name))
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.append(" but was given ").append(ptr_.className()));
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}
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// get the instance field
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MxArray inst = ptr_.field("inst_");
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Object* obj = NULL;
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// make sure the pointer is the correct size for the system
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if (sizeof(void *) == 8 && inst.ID() == mxUINT64_CLASS) {
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// 64-bit pointers
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// TODO: Do we REALLY REALLY need to reinterpret_cast?
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obj = reinterpret_cast<Object *>(inst.scalar<uint64_t>());
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} else if (sizeof(void *) == 4 && inst.ID() == mxUINT32_CLASS) {
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// 32-bit pointers
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obj = reinterpret_cast<Object *>(inst.scalar<uint32_t>());
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} else {
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error("Incorrect pointer type stored for architecture");
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}
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// finally check if the object is NULL
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conditionalError(obj, std::string("Object ").append(std::string(name)).append(std::string(" is NULL")));
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return obj;
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}
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// --------------------------------------------------------------------------
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// MATLAB TYPES
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// --------------------------------------------------------------------------
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Bridge& operator=(const mxArray* obj) { return *this; }
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Bridge(const mxArray* obj) : ptr_(obj) {}
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MxArray toMxArray() { return ptr_; }
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// --------------------------------------------------------------------------
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// INTEGRAL TYPES
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// --------------------------------------------------------------------------
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// --------------------------- string --------------------------------------
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Bridge& operator=(const std::string& obj) { return *this; }
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std::string toString() {
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return ptr_.toString();
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}
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operator std::string() { return toString(); }
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// --------------------------- bool --------------------------------------
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Bridge& operator=(const bool& obj) { return *this; }
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bool toBool() { return 0; }
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operator bool() { return toBool(); }
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// --------------------------- double --------------------------------------
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Bridge& operator=(const double& obj) { return *this; }
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double toDouble() { return ptr_.scalar<double>(); }
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operator double() { return toDouble(); }
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// --------------------------- float ---------------------------------------
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Bridge& operator=(const float& obj) { return *this; }
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float toFloat() { return ptr_.scalar<float>(); }
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operator float() { return toFloat(); }
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// --------------------------- int --------------------------------------
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Bridge& operator=(const int& obj) { return *this; }
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int toInt() { return ptr_.scalar<int>(); }
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operator int() { return toInt(); }
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// --------------------------------------------------------------------------
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// CORE OPENCV TYPES
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// --------------------------------------------------------------------------
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// --------------------------- cv::Mat --------------------------------------
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Bridge& operator=(const cv::Mat& obj) { return *this; }
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cv::Mat toMat() const { return ptr_.toMat<Matlab::InheritType>(); }
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operator cv::Mat() const { return toMat(); }
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// -------------------------- Point --------------------------------------
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Bridge& operator=(const cv::Point& obj) { return *this; }
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cv::Point toPoint() const { return cv::Point(); }
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operator cv::Point() const { return toPoint(); }
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// -------------------------- Point2f ------------------------------------
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Bridge& operator=(const cv::Point2f& obj) { return *this; }
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cv::Point2f toPoint2f() const { return cv::Point2f(); }
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operator cv::Point2f() const { return toPoint2f(); }
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// -------------------------- Point2d ------------------------------------
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Bridge& operator=(const cv::Point2d& obj) { return *this; }
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cv::Point2d toPoint2d() const { return cv::Point2d(); }
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operator cv::Point2d() const { return toPoint2d(); }
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// -------------------------- Size ---------------------------------------
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Bridge& operator=(const cv::Size& obj) { return *this; }
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cv::Size toSize() const { return cv::Size(); }
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operator cv::Size() const { return toSize(); }
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// -------------------------- Moments --------------------------------------
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Bridge& operator=(const cv::Moments& obj) { return *this; }
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cv::Moments toMoments() const { return cv::Moments(); }
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operator cv::Moments() const { return toMoments(); }
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// -------------------------- Scalar --------------------------------------
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Bridge& operator=(const cv::Scalar& obj) { return *this; }
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cv::Scalar toScalar() { return cv::Scalar(); }
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operator cv::Scalar() { return toScalar(); }
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// -------------------------- Rect -----------------------------------------
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Bridge& operator=(const cv::Rect& obj) { return *this; }
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cv::Rect toRect() { return cv::Rect(); }
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operator cv::Rect() { return toRect(); }
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// ---------------------- RotatedRect ---------------------------------------
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Bridge& operator=(const cv::RotatedRect& obj) { return *this; }
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cv::RotatedRect toRotatedRect() { return cv::RotatedRect(); }
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operator cv::RotatedRect() { return toRotatedRect(); }
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// ---------------------- TermCriteria --------------------------------------
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Bridge& operator=(const cv::TermCriteria& obj) { return *this; }
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cv::TermCriteria toTermCriteria() { return cv::TermCriteria(); }
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operator cv::TermCriteria() { return toTermCriteria(); }
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// ---------------------- RNG --------------------------------------
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Bridge& operator=(const cv::RNG& obj) { return *this; }
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/*! @brief explicit conversion to cv::RNG()
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*
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* Converts a bridge object to a cv::RNG(). We explicitly assert that
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* the object is an RNG in matlab space before attempting to deference
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* its pointer
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*/
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cv::RNG toRNG() {
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return (*getObjectByName<cv::RNG>("RNG"));
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}
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operator cv::RNG() { return toRNG(); }
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// --------------------------------------------------------------------------
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// OPENCV VECTOR TYPES
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// --------------------------------------------------------------------------
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// -------------------- vector_Mat ------------------------------------------
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Bridge& operator=(const vector_Mat& obj) { return *this; }
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vector_Mat toVectorMat() { return vector_Mat(); }
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operator vector_Mat() { return toVectorMat(); }
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// --------------------------- vector_int ----------------------------------
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Bridge& operator=(const vector_int& obj) { return *this; }
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vector_int toVectorInt() { return vector_int(); }
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operator vector_int() { return toVectorInt(); }
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// --------------------------- vector_float --------------------------------
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Bridge& operator=(const vector_float& obj) { return *this; }
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vector_float toVectorFloat() { return vector_float(); }
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operator vector_float() { return toVectorFloat(); }
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// --------------------------- vector_Rect ---------------------------------
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Bridge& operator=(const vector_Rect& obj) { return *this; }
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vector_Rect toVectorRect() { return vector_Rect(); }
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operator vector_Rect() { return toVectorRect(); }
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// --------------------------- vector_KeyPoint -----------------------------
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Bridge& operator=(const vector_KeyPoint& obj) { return *this; }
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vector_KeyPoint toVectorKeyPoint() { return vector_KeyPoint(); }
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operator vector_KeyPoint() { return toVectorKeyPoint(); }
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// --------------------------- vector_String -------------------------------
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Bridge& operator=(const vector_String& obj) { return *this; }
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vector_String toVectorString() { return vector_String(); }
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operator vector_String() { return toVectorString(); }
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// ------------------------ vector_Point ------------------------------------
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Bridge& operator=(const vector_Point& obj) { return *this; }
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vector_Point toVectorPoint() { return vector_Point(); }
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operator vector_Point() { return toVectorPoint(); }
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// ------------------------ vector_uchar ------------------------------------
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Bridge& operator=(const vector_uchar& obj) { return *this; }
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vector_uchar toVectorUchar() { return vector_uchar(); }
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operator vector_uchar() { return toVectorUchar(); }
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// --------------------------------------------------------------------------
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// OPENCV COMPLEX TYPES
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// --------------------------------------------------------------------------
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// --------------------------- Ptr_StereoBM -----------------------------
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Bridge& operator=(const Ptr_StereoBM& obj) { return *this; }
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Ptr_StereoBM toPtrStereoBM() { return Ptr_StereoBM(); }
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operator Ptr_StereoBM() { return toPtrStereoBM(); }
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// --------------------------- Ptr_StereoSGBM ---------------------------
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Bridge& operator=(const Ptr_StereoSGBM& obj) { return *this; }
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Ptr_StereoSGBM toPtrStereoSGBM() { return Ptr_StereoSGBM(); }
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operator Ptr_StereoSGBM() { return toPtrStereoSGBM(); }
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// --------------------------- Ptr_FeatureDetector ----------------------
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Bridge& operator=(const Ptr_FeatureDetector& obj) { return *this; }
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Ptr_FeatureDetector toPtrFeatureDetector() { return Ptr_FeatureDetector(); }
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operator Ptr_FeatureDetector() { return toPtrFeatureDetector(); }
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};
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#endif
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