OPENCV(2) —— Basic Structures（二）

Mat

OpenCV C++ n-dimensional dense array class

The class Mat represents an n-dimensional dense numerical single-channel or multi-channel array. It can be used to store real or complex-valued vectors and matrices, grayscale or color images, voxel volumes, vector fields, point clouds, tensors, histograms (though, very high-dimensional histograms may be better stored in a SparseMat ).

 

The data layout of the array is defined by the array M.step[], so that the address of element , where , is computed as:

In case of a 2-dimensional array, the above formula is reduced to:

 

Note that M.step[i] >= M.step[i+1] (in fact, M.step[i] >= M.step[i+1]*M.size[i+1] ). This means that 2-dimensional matrices are stored row-by-row, 3-dimensional matrices are stored plane-by-plane, and so on. M.step[M.dims-1] is minimal and always equal to the element size M.elemSize() .

 

There are many different ways to create a Mat object.

Use the create(nrows, ncols, type) method or the similar Mat(nrows, ncols, type[, fillValue]) constructor.

// make a 7x7 complex matrix filled with 1+3j.
Mat M(7,7,CV_32FC2,Scalar(1,3));
// and now turn M to a 100x60 15-channel 8-bit matrix.
// The old content will be deallocated
M.create(100,60,CV_8UC(15));

As noted in the introduction to this chapter, create() allocates only a new array when the shape or type of the current array are different from the specified ones.

Create a multi-dimensional array:

// create a 100x100x100 8-bit array
int sz[] = {100, 100, 100};
Mat bigCube(3, sz, CV_8U, Scalar::all(0));

It passes the number of dimensions =1 to the Mat constructor but the created array will be 2-dimensional with the number of columns set to 1. So, Mat::dims is always >= 2 (can also be 0 when the array is empty).

Construct a header for a part of another array. It can be a single row, single column, several rows, several columns, rectangular region in the array (called a minor in algebra) or a diagonal. Such operations are also O(1) because the new header references the same data. You can actually modify a part of the array using this feature, for example:

// add the 5-th row, multiplied by 3 to the 3rd row
M.row(3) = M.row(3) + M.row(5)*3;

// now copy the 7-th column to the 1-st column
// M.col(1) = M.col(7); // this will not work
Mat M1 = M.col(1);
M.col(7).copyTo(M1);

// create a new 320x240 image
Mat img(Size(320,240),CV_8UC3);
// select a ROI
Mat roi(img, Rect(10,10,100,100));
// fill the ROI with (0,255,0) (which is green in RGB space);
// the original 320x240 image will be modified
roi = Scalar(0,255,0);

Due to the additional datastart and dataend members, it is possible to compute a relative sub-array position in the main container array using locateROI():

Mat A = Mat::eye(10, 10, CV_32S);
// extracts A columns, 1 (inclusive) to 3 (exclusive).
Mat B = A(Range::all(), Range(1, 3));
// extracts B rows, 5 (inclusive) to 9 (exclusive).
// that is, C ~ A(Range(5, 9), Range(1, 3))
Mat C = B(Range(5, 9), Range::all());
Size size; Point ofs;
C.locateROI(size, ofs);
// size will be (width=10,height=10) and the ofs will be (x=1, y=5)

 

Make a header for user-allocated data. It can be useful to do the following:

Process “foreign” data using OpenCV (for example, when you implement a DirectShow* filter or a processing module for gstreamer, and so on). For example:

void process_video_frame(const unsigned char* pixels,
                         int width, int height, int step)
{
    Mat img(height, width, CV_8UC3, pixels, step);
    GaussianBlur(img, img, Size(7,7), 1.5, 1.5);
}

Quickly initialize small matrices and/or get a super-fast element access.

double m[3][3] = {{a, b, c}, {d, e, f}, {g, h, i}};
Mat M = Mat(3, 3, CV_64F, m).inv();

 

Partial yet very common cases of this user-allocated data case are conversions from CvMat and IplImage to Mat. For this purpose, there are special constructors taking pointers to CvMat or IplImage and the optional flag indicating whether to copy the data or not.

Backward conversion from Mat to CvMat or IplImage is provided via cast operators Mat::operator CvMat()const and Mat::operator IplImage(). The operators do NOT copy the data.

IplImage* img = cvLoadImage("greatwave.jpg", 1);
Mat mtx(img); // convert IplImage* -> Mat
CvMat oldmat = mtx; // convert Mat -> CvMat
CV_Assert(oldmat.cols == img->width && oldmat.rows == img->height &&
    oldmat.data.ptr == (uchar*)img->imageData && oldmat.step == img->widthStep);

 

Use MATLAB-style array initializers, zeros(), ones(), eye(), for example:

// create a double-precision identity martix and add it to M.
M += Mat::eye(M.rows, M.cols, CV_64F);

 

 

Use a comma-separated initializer:

// create a 3x3 double-precision identity matrix
Mat M = (Mat_<double>(3,3) << 1, 0, 0, 0, 1, 0, 0, 0, 1);

 

// compute sum of positive matrix elements
// (assuming that M isa double-precision matrix)
double sum=0;
for(int i = 0; i < M.rows; i++)
{
    const double* Mi = M.ptr<double>(i);
    for(int j = 0; j < M.cols; j++)
        sum += std::max(Mi[j], 0.);
}

 

// compute the sum of positive matrix elements, optimized variant
double sum=0;
int cols = M.cols, rows = M.rows;
if(M.isContinuous())
{
    cols *= rows;
    rows = 1;
}
for(int i = 0; i < rows; i++)
{
    const double* Mi = M.ptr<double>(i);
    for(int j = 0; j < cols; j++)
        sum += std::max(Mi[j], 0.);
}

 

// compute sum of positive matrix elements, iterator-based variant
double sum=0;
MatConstIterator_<double> it = M.begin<double>(), it_end = M.end<double>();
for(; it != it_end; ++it)
    sum += std::max(*it, 0.);

 

Mat::row

Creates a matrix header for the specified matrix row.

The method makes a new header for the specified matrix row and returns it. This is an O(1) operation, regardless of the matrix size. The underlying data of the new matrix is shared with the original matrix.

Mat::rowRange

Creates a matrix header for the specified row span.

The method makes a new header for the specified row span of the matrix. Similarly to Mat::row() and Mat::col() , this is an O(1) operation.

Mat::copyTo

Copies the matrix to another one.

The method copies the matrix data to another matrix. Before copying the data, the method invokes

m.create(this->size(), this->type());

so that the destination matrix is reallocated if needed. While m.copyTo(m); works flawlessly, the function does not handle the case of a partial overlap between the source and the destination matrices.

When the operation mask is specified, if the Mat::create call shown above reallocates the matrix, the newly allocated matrix is initialized with all zeros before copying the data.

 

• Mat::assignTo
• Mat::setTo
• Mat::reshape
• Mat::t
• Mat::inv
• Mat::mul
• Mat::cross
• Mat::dot
• Mat::zeros
• Mat::ones
• Mat::eye
• Mat::create
• Mat::addref
• Mat::release
• Mat::resize
• Mat::reserve
• Mat::push_back
• Mat::pop_back
• Mat::locateROI
• Mat::adjustROI
• Mat::operator()
• Mat::operator CvMat
• Mat::operator IplImage
• Mat::total
• Mat::isContinuous
• Mat::elemSize
• Mat::elemSize1
• Mat::type
• Mat::depth
• Mat::channels
• Mat::step1
• Mat::size
• Mat::empty
• Mat::ptr
• Mat::at
• Mat::begin
• Mat::end

 

Mat 类的熟悉程度决定着对OpenCV的操纵能力，必须花时间掌握好~~