Renesas
openCV library for Renesas RZ/A
Dependents: RZ_A2M_Mbed_samples
Diff: include/opencv2/core/matx.hpp
- Revision:
- 0:0e0631af0305
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/include/opencv2/core/matx.hpp Fri Jan 29 04:53:38 2021 +0000
@@ -0,0 +1,1407 @@
+/*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_MATX_HPP
+#define OPENCV_CORE_MATX_HPP
+
+#ifndef __cplusplus
+# error matx.hpp header must be compiled as C++
+#endif
+
+#include "opencv2/core/cvdef.h"
+#include "opencv2/core/base.hpp"
+#include "opencv2/core/traits.hpp"
+#include "opencv2/core/saturate.hpp"
+
+namespace cv
+{
+
+//! @addtogroup core_basic
+//! @{
+
+////////////////////////////// Small Matrix ///////////////////////////
+
+//! @cond IGNORED
+struct CV_EXPORTS Matx_AddOp {};
+struct CV_EXPORTS Matx_SubOp {};
+struct CV_EXPORTS Matx_ScaleOp {};
+struct CV_EXPORTS Matx_MulOp {};
+struct CV_EXPORTS Matx_DivOp {};
+struct CV_EXPORTS Matx_MatMulOp {};
+struct CV_EXPORTS Matx_TOp {};
+//! @endcond
+
+/** @brief Template class for small matrices whose type and size are known at compilation time
+
+If you need a more flexible type, use Mat . The elements of the matrix M are accessible using the
+M(i,j) notation. Most of the common matrix operations (see also @ref MatrixExpressions ) are
+available. To do an operation on Matx that is not implemented, you can easily convert the matrix to
+Mat and backwards:
+@code
+ Matx33f m(1, 2, 3,
+ 4, 5, 6,
+ 7, 8, 9);
+ cout << sum(Mat(m*m.t())) << endl;
+ @endcode
+ */
+template<typename _Tp, int m, int n> class Matx
+{
+public:
+ enum { depth = DataType<_Tp>::depth,
+ rows = m,
+ cols = n,
+ channels = rows*cols,
+ type = CV_MAKETYPE(depth, channels),
+ shortdim = (m < n ? m : n)
+ };
+
+ typedef _Tp value_type;
+ typedef Matx<_Tp, m, n> mat_type;
+ typedef Matx<_Tp, shortdim, 1> diag_type;
+
+ //! default constructor
+ Matx();
+
+ Matx(_Tp v0); //!< 1x1 matrix
+ Matx(_Tp v0, _Tp v1); //!< 1x2 or 2x1 matrix
+ Matx(_Tp v0, _Tp v1, _Tp v2); //!< 1x3 or 3x1 matrix
+ Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3); //!< 1x4, 2x2 or 4x1 matrix
+ Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4); //!< 1x5 or 5x1 matrix
+ Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5); //!< 1x6, 2x3, 3x2 or 6x1 matrix
+ Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6); //!< 1x7 or 7x1 matrix
+ Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7); //!< 1x8, 2x4, 4x2 or 8x1 matrix
+ Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8); //!< 1x9, 3x3 or 9x1 matrix
+ Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9); //!< 1x10, 2x5 or 5x2 or 10x1 matrix
+ Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3,
+ _Tp v4, _Tp v5, _Tp v6, _Tp v7,
+ _Tp v8, _Tp v9, _Tp v10, _Tp v11); //!< 1x12, 2x6, 3x4, 4x3, 6x2 or 12x1 matrix
+ Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3,
+ _Tp v4, _Tp v5, _Tp v6, _Tp v7,
+ _Tp v8, _Tp v9, _Tp v10, _Tp v11,
+ _Tp v12, _Tp v13); //!< 1x14, 2x7, 7x2 or 14x1 matrix
+ Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3,
+ _Tp v4, _Tp v5, _Tp v6, _Tp v7,
+ _Tp v8, _Tp v9, _Tp v10, _Tp v11,
+ _Tp v12, _Tp v13, _Tp v14, _Tp v15); //!< 1x16, 4x4 or 16x1 matrix
+ explicit Matx(const _Tp* vals); //!< initialize from a plain array
+
+ static Matx all(_Tp alpha);
+ static Matx zeros();
+ static Matx ones();
+ static Matx eye();
+ static Matx diag(const diag_type& d);
+ static Matx randu(_Tp a, _Tp b);
+ static Matx randn(_Tp a, _Tp b);
+
+ //! dot product computed with the default precision
+ _Tp dot(const Matx<_Tp, m, n>& v) const;
+
+ //! dot product computed in double-precision arithmetics
+ double ddot(const Matx<_Tp, m, n>& v) const;
+
+ //! conversion to another data type
+ template<typename T2> operator Matx<T2, m, n>() const;
+
+ //! change the matrix shape
+ template<int m1, int n1> Matx<_Tp, m1, n1> reshape() const;
+
+ //! extract part of the matrix
+ template<int m1, int n1> Matx<_Tp, m1, n1> get_minor(int i, int j) const;
+
+ //! extract the matrix row
+ Matx<_Tp, 1, n> row(int i) const;
+
+ //! extract the matrix column
+ Matx<_Tp, m, 1> col(int i) const;
+
+ //! extract the matrix diagonal
+ diag_type diag() const;
+
+ //! transpose the matrix
+ Matx<_Tp, n, m> t() const;
+
+ //! invert the matrix
+ Matx<_Tp, n, m> inv(int method=DECOMP_LU, bool *p_is_ok = NULL) const;
+
+ //! solve linear system
+ template<int l> Matx<_Tp, n, l> solve(const Matx<_Tp, m, l>& rhs, int flags=DECOMP_LU) const;
+ Vec<_Tp, n> solve(const Vec<_Tp, m>& rhs, int method) const;
+
+ //! multiply two matrices element-wise
+ Matx<_Tp, m, n> mul(const Matx<_Tp, m, n>& a) const;
+
+ //! divide two matrices element-wise
+ Matx<_Tp, m, n> div(const Matx<_Tp, m, n>& a) const;
+
+ //! element access
+ const _Tp& operator ()(int i, int j) const;
+ _Tp& operator ()(int i, int j);
+
+ //! 1D element access
+ const _Tp& operator ()(int i) const;
+ _Tp& operator ()(int i);
+
+ Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_AddOp);
+ Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_SubOp);
+ template<typename _T2> Matx(const Matx<_Tp, m, n>& a, _T2 alpha, Matx_ScaleOp);
+ Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_MulOp);
+ Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_DivOp);
+ template<int l> Matx(const Matx<_Tp, m, l>& a, const Matx<_Tp, l, n>& b, Matx_MatMulOp);
+ Matx(const Matx<_Tp, n, m>& a, Matx_TOp);
+
+ _Tp val[m*n]; //< matrix elements
+};
+
+typedef Matx<float, 1, 2> Matx12f;
+typedef Matx<double, 1, 2> Matx12d;
+typedef Matx<float, 1, 3> Matx13f;
+typedef Matx<double, 1, 3> Matx13d;
+typedef Matx<float, 1, 4> Matx14f;
+typedef Matx<double, 1, 4> Matx14d;
+typedef Matx<float, 1, 6> Matx16f;
+typedef Matx<double, 1, 6> Matx16d;
+
+typedef Matx<float, 2, 1> Matx21f;
+typedef Matx<double, 2, 1> Matx21d;
+typedef Matx<float, 3, 1> Matx31f;
+typedef Matx<double, 3, 1> Matx31d;
+typedef Matx<float, 4, 1> Matx41f;
+typedef Matx<double, 4, 1> Matx41d;
+typedef Matx<float, 6, 1> Matx61f;
+typedef Matx<double, 6, 1> Matx61d;
+
+typedef Matx<float, 2, 2> Matx22f;
+typedef Matx<double, 2, 2> Matx22d;
+typedef Matx<float, 2, 3> Matx23f;
+typedef Matx<double, 2, 3> Matx23d;
+typedef Matx<float, 3, 2> Matx32f;
+typedef Matx<double, 3, 2> Matx32d;
+
+typedef Matx<float, 3, 3> Matx33f;
+typedef Matx<double, 3, 3> Matx33d;
+
+typedef Matx<float, 3, 4> Matx34f;
+typedef Matx<double, 3, 4> Matx34d;
+typedef Matx<float, 4, 3> Matx43f;
+typedef Matx<double, 4, 3> Matx43d;
+
+typedef Matx<float, 4, 4> Matx44f;
+typedef Matx<double, 4, 4> Matx44d;
+typedef Matx<float, 6, 6> Matx66f;
+typedef Matx<double, 6, 6> Matx66d;
+
+/*!
+ traits
+*/
+template<typename _Tp, int m, int n> class DataType< Matx<_Tp, m, n> >
+{
+public:
+ typedef Matx<_Tp, m, n> value_type;
+ typedef Matx<typename DataType<_Tp>::work_type, m, n> work_type;
+ typedef _Tp channel_type;
+ typedef value_type vec_type;
+
+ enum { generic_type = 0,
+ depth = DataType<channel_type>::depth,
+ channels = m * n,
+ fmt = DataType<channel_type>::fmt + ((channels - 1) << 8),
+ type = CV_MAKETYPE(depth, channels)
+ };
+};
+
+/** @brief Comma-separated Matrix Initializer
+*/
+template<typename _Tp, int m, int n> class MatxCommaInitializer
+{
+public:
+ MatxCommaInitializer(Matx<_Tp, m, n>* _mtx);
+ template<typename T2> MatxCommaInitializer<_Tp, m, n>& operator , (T2 val);
+ Matx<_Tp, m, n> operator *() const;
+
+ Matx<_Tp, m, n>* dst;
+ int idx;
+};
+
+/*
+ Utility methods
+*/
+template<typename _Tp, int m> static double determinant(const Matx<_Tp, m, m>& a);
+template<typename _Tp, int m, int n> static double trace(const Matx<_Tp, m, n>& a);
+template<typename _Tp, int m, int n> static double norm(const Matx<_Tp, m, n>& M);
+template<typename _Tp, int m, int n> static double norm(const Matx<_Tp, m, n>& M, int normType);
+
+
+
+/////////////////////// Vec (used as element of multi-channel images /////////////////////
+
+/** @brief Template class for short numerical vectors, a partial case of Matx
+
+This template class represents short numerical vectors (of 1, 2, 3, 4 ... elements) on which you
+can perform basic arithmetical operations, access individual elements using [] operator etc. The
+vectors are allocated on stack, as opposite to std::valarray, std::vector, cv::Mat etc., which
+elements are dynamically allocated in the heap.
+
+The template takes 2 parameters:
+@tparam _Tp element type
+@tparam cn the number of elements
+
+In addition to the universal notation like Vec<float, 3>, you can use shorter aliases
+for the most popular specialized variants of Vec, e.g. Vec3f ~ Vec<float, 3>.
+
+It is possible to convert Vec\<T,2\> to/from Point_, Vec\<T,3\> to/from Point3_ , and Vec\<T,4\>
+to CvScalar or Scalar_. Use operator[] to access the elements of Vec.
+
+All the expected vector operations are also implemented:
+- v1 = v2 + v3
+- v1 = v2 - v3
+- v1 = v2 \* scale
+- v1 = scale \* v2
+- v1 = -v2
+- v1 += v2 and other augmenting operations
+- v1 == v2, v1 != v2
+- norm(v1) (euclidean norm)
+The Vec class is commonly used to describe pixel types of multi-channel arrays. See Mat for details.
+*/
+template<typename _Tp, int cn> class Vec : public Matx<_Tp, cn, 1>
+{
+public:
+ typedef _Tp value_type;
+ enum { depth = Matx<_Tp, cn, 1>::depth,
+ channels = cn,
+ type = CV_MAKETYPE(depth, channels)
+ };
+
+ //! default constructor
+ Vec();
+
+ Vec(_Tp v0); //!< 1-element vector constructor
+ Vec(_Tp v0, _Tp v1); //!< 2-element vector constructor
+ Vec(_Tp v0, _Tp v1, _Tp v2); //!< 3-element vector constructor
+ Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3); //!< 4-element vector constructor
+ Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4); //!< 5-element vector constructor
+ Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5); //!< 6-element vector constructor
+ Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6); //!< 7-element vector constructor
+ Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7); //!< 8-element vector constructor
+ Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8); //!< 9-element vector constructor
+ Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9); //!< 10-element vector constructor
+ Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9, _Tp v10, _Tp v11, _Tp v12, _Tp v13); //!< 14-element vector constructor
+ explicit Vec(const _Tp* values);
+
+ Vec(const Vec<_Tp, cn>& v);
+
+ static Vec all(_Tp alpha);
+
+ //! per-element multiplication
+ Vec mul(const Vec<_Tp, cn>& v) const;
+
+ //! conjugation (makes sense for complex numbers and quaternions)
+ Vec conj() const;
+
+ /*!
+ cross product of the two 3D vectors.
+
+ For other dimensionalities the exception is raised
+ */
+ Vec cross(const Vec& v) const;
+ //! conversion to another data type
+ template<typename T2> operator Vec<T2, cn>() const;
+
+ /*! element access */
+ const _Tp& operator [](int i) const;
+ _Tp& operator[](int i);
+ const _Tp& operator ()(int i) const;
+ _Tp& operator ()(int i);
+
+ Vec(const Matx<_Tp, cn, 1>& a, const Matx<_Tp, cn, 1>& b, Matx_AddOp);
+ Vec(const Matx<_Tp, cn, 1>& a, const Matx<_Tp, cn, 1>& b, Matx_SubOp);
+ template<typename _T2> Vec(const Matx<_Tp, cn, 1>& a, _T2 alpha, Matx_ScaleOp);
+};
+
+/** @name Shorter aliases for the most popular specializations of Vec<T,n>
+ @{
+*/
+typedef Vec<uchar, 2> Vec2b;
+typedef Vec<uchar, 3> Vec3b;
+typedef Vec<uchar, 4> Vec4b;
+
+typedef Vec<short, 2> Vec2s;
+typedef Vec<short, 3> Vec3s;
+typedef Vec<short, 4> Vec4s;
+
+typedef Vec<ushort, 2> Vec2w;
+typedef Vec<ushort, 3> Vec3w;
+typedef Vec<ushort, 4> Vec4w;
+
+typedef Vec<int, 2> Vec2i;
+typedef Vec<int, 3> Vec3i;
+typedef Vec<int, 4> Vec4i;
+typedef Vec<int, 6> Vec6i;
+typedef Vec<int, 8> Vec8i;
+
+typedef Vec<float, 2> Vec2f;
+typedef Vec<float, 3> Vec3f;
+typedef Vec<float, 4> Vec4f;
+typedef Vec<float, 6> Vec6f;
+
+typedef Vec<double, 2> Vec2d;
+typedef Vec<double, 3> Vec3d;
+typedef Vec<double, 4> Vec4d;
+typedef Vec<double, 6> Vec6d;
+/** @} */
+
+/*!
+ traits
+*/
+template<typename _Tp, int cn> class DataType< Vec<_Tp, cn> >
+{
+public:
+ typedef Vec<_Tp, cn> value_type;
+ typedef Vec<typename DataType<_Tp>::work_type, cn> work_type;
+ typedef _Tp channel_type;
+ typedef value_type vec_type;
+
+ enum { generic_type = 0,
+ depth = DataType<channel_type>::depth,
+ channels = cn,
+ fmt = DataType<channel_type>::fmt + ((channels - 1) << 8),
+ type = CV_MAKETYPE(depth, channels)
+ };
+};
+
+/** @brief Comma-separated Vec Initializer
+*/
+template<typename _Tp, int m> class VecCommaInitializer : public MatxCommaInitializer<_Tp, m, 1>
+{
+public:
+ VecCommaInitializer(Vec<_Tp, m>* _vec);
+ template<typename T2> VecCommaInitializer<_Tp, m>& operator , (T2 val);
+ Vec<_Tp, m> operator *() const;
+};
+
+template<typename _Tp, int cn> static Vec<_Tp, cn> normalize(const Vec<_Tp, cn>& v);
+
+//! @} core_basic
+
+//! @cond IGNORED
+
+///////////////////////////////////// helper classes /////////////////////////////////////
+namespace internal
+{
+
+template<typename _Tp, int m> struct Matx_DetOp
+{
+ double operator ()(const Matx<_Tp, m, m>& a) const
+ {
+ Matx<_Tp, m, m> temp = a;
+ double p = LU(temp.val, m*sizeof(_Tp), m, 0, 0, 0);
+ if( p == 0 )
+ return p;
+ for( int i = 0; i < m; i++ )
+ p *= temp(i, i);
+ return p;
+ }
+};
+
+template<typename _Tp> struct Matx_DetOp<_Tp, 1>
+{
+ double operator ()(const Matx<_Tp, 1, 1>& a) const
+ {
+ return a(0,0);
+ }
+};
+
+template<typename _Tp> struct Matx_DetOp<_Tp, 2>
+{
+ double operator ()(const Matx<_Tp, 2, 2>& a) const
+ {
+ return a(0,0)*a(1,1) - a(0,1)*a(1,0);
+ }
+};
+
+template<typename _Tp> struct Matx_DetOp<_Tp, 3>
+{
+ double operator ()(const Matx<_Tp, 3, 3>& a) const
+ {
+ return a(0,0)*(a(1,1)*a(2,2) - a(2,1)*a(1,2)) -
+ a(0,1)*(a(1,0)*a(2,2) - a(2,0)*a(1,2)) +
+ a(0,2)*(a(1,0)*a(2,1) - a(2,0)*a(1,1));
+ }
+};
+
+template<typename _Tp> Vec<_Tp, 2> inline conjugate(const Vec<_Tp, 2>& v)
+{
+ return Vec<_Tp, 2>(v[0], -v[1]);
+}
+
+template<typename _Tp> Vec<_Tp, 4> inline conjugate(const Vec<_Tp, 4>& v)
+{
+ return Vec<_Tp, 4>(v[0], -v[1], -v[2], -v[3]);
+}
+
+} // internal
+
+
+
+////////////////////////////////// Matx Implementation ///////////////////////////////////
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx()
+{
+ for(int i = 0; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0)
+{
+ val[0] = v0;
+ for(int i = 1; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1)
+{
+ CV_StaticAssert(channels >= 2, "Matx should have at least 2 elements.");
+ val[0] = v0; val[1] = v1;
+ for(int i = 2; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2)
+{
+ CV_StaticAssert(channels >= 3, "Matx should have at least 3 elements.");
+ val[0] = v0; val[1] = v1; val[2] = v2;
+ for(int i = 3; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3)
+{
+ CV_StaticAssert(channels >= 4, "Matx should have at least 4 elements.");
+ val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+ for(int i = 4; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4)
+{
+ CV_StaticAssert(channels >= 5, "Matx should have at least 5 elements.");
+ val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3; val[4] = v4;
+ for(int i = 5; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5)
+{
+ CV_StaticAssert(channels >= 6, "Matx should have at least 6 elements.");
+ val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+ val[4] = v4; val[5] = v5;
+ for(int i = 6; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6)
+{
+ CV_StaticAssert(channels >= 7, "Matx should have at least 7 elements.");
+ val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+ val[4] = v4; val[5] = v5; val[6] = v6;
+ for(int i = 7; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7)
+{
+ CV_StaticAssert(channels >= 8, "Matx should have at least 8 elements.");
+ val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+ val[4] = v4; val[5] = v5; val[6] = v6; val[7] = v7;
+ for(int i = 8; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8)
+{
+ CV_StaticAssert(channels >= 9, "Matx should have at least 9 elements.");
+ val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+ val[4] = v4; val[5] = v5; val[6] = v6; val[7] = v7;
+ val[8] = v8;
+ for(int i = 9; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9)
+{
+ CV_StaticAssert(channels >= 10, "Matx should have at least 10 elements.");
+ val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+ val[4] = v4; val[5] = v5; val[6] = v6; val[7] = v7;
+ val[8] = v8; val[9] = v9;
+ for(int i = 10; i < channels; i++) val[i] = _Tp(0);
+}
+
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9, _Tp v10, _Tp v11)
+{
+ CV_StaticAssert(channels >= 12, "Matx should have at least 12 elements.");
+ val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+ val[4] = v4; val[5] = v5; val[6] = v6; val[7] = v7;
+ val[8] = v8; val[9] = v9; val[10] = v10; val[11] = v11;
+ for(int i = 12; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9, _Tp v10, _Tp v11, _Tp v12, _Tp v13)
+{
+ CV_StaticAssert(channels == 14, "Matx should have at least 14 elements.");
+ val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+ val[4] = v4; val[5] = v5; val[6] = v6; val[7] = v7;
+ val[8] = v8; val[9] = v9; val[10] = v10; val[11] = v11;
+ val[12] = v12; val[13] = v13;
+}
+
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9, _Tp v10, _Tp v11, _Tp v12, _Tp v13, _Tp v14, _Tp v15)
+{
+ CV_StaticAssert(channels >= 16, "Matx should have at least 16 elements.");
+ val[0] = v0; val[1] = v1; val[2] = v2; val[3] = v3;
+ val[4] = v4; val[5] = v5; val[6] = v6; val[7] = v7;
+ val[8] = v8; val[9] = v9; val[10] = v10; val[11] = v11;
+ val[12] = v12; val[13] = v13; val[14] = v14; val[15] = v15;
+ for(int i = 16; i < channels; i++) val[i] = _Tp(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n>::Matx(const _Tp* values)
+{
+ for( int i = 0; i < channels; i++ ) val[i] = values[i];
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n> Matx<_Tp, m, n>::all(_Tp alpha)
+{
+ Matx<_Tp, m, n> M;
+ for( int i = 0; i < m*n; i++ ) M.val[i] = alpha;
+ return M;
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n> Matx<_Tp,m,n>::zeros()
+{
+ return all(0);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n> Matx<_Tp,m,n>::ones()
+{
+ return all(1);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n> Matx<_Tp,m,n>::eye()
+{
+ Matx<_Tp,m,n> M;
+ for(int i = 0; i < shortdim; i++)
+ M(i,i) = 1;
+ return M;
+}
+
+template<typename _Tp, int m, int n> inline
+_Tp Matx<_Tp, m, n>::dot(const Matx<_Tp, m, n>& M) const
+{
+ _Tp s = 0;
+ for( int i = 0; i < channels; i++ ) s += val[i]*M.val[i];
+ return s;
+}
+
+template<typename _Tp, int m, int n> inline
+double Matx<_Tp, m, n>::ddot(const Matx<_Tp, m, n>& M) const
+{
+ double s = 0;
+ for( int i = 0; i < channels; i++ ) s += (double)val[i]*M.val[i];
+ return s;
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n> Matx<_Tp,m,n>::diag(const typename Matx<_Tp,m,n>::diag_type& d)
+{
+ Matx<_Tp,m,n> M;
+ for(int i = 0; i < shortdim; i++)
+ M(i,i) = d(i, 0);
+ return M;
+}
+
+template<typename _Tp, int m, int n> template<typename T2>
+inline Matx<_Tp, m, n>::operator Matx<T2, m, n>() const
+{
+ Matx<T2, m, n> M;
+ for( int i = 0; i < m*n; i++ ) M.val[i] = saturate_cast<T2>(val[i]);
+ return M;
+}
+
+template<typename _Tp, int m, int n> template<int m1, int n1> inline
+Matx<_Tp, m1, n1> Matx<_Tp, m, n>::reshape() const
+{
+ CV_StaticAssert(m1*n1 == m*n, "Input and destnarion matrices must have the same number of elements");
+ return (const Matx<_Tp, m1, n1>&)*this;
+}
+
+template<typename _Tp, int m, int n>
+template<int m1, int n1> inline
+Matx<_Tp, m1, n1> Matx<_Tp, m, n>::get_minor(int i, int j) const
+{
+ CV_DbgAssert(0 <= i && i+m1 <= m && 0 <= j && j+n1 <= n);
+ Matx<_Tp, m1, n1> s;
+ for( int di = 0; di < m1; di++ )
+ for( int dj = 0; dj < n1; dj++ )
+ s(di, dj) = (*this)(i+di, j+dj);
+ return s;
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, 1, n> Matx<_Tp, m, n>::row(int i) const
+{
+ CV_DbgAssert((unsigned)i < (unsigned)m);
+ return Matx<_Tp, 1, n>(&val[i*n]);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, 1> Matx<_Tp, m, n>::col(int j) const
+{
+ CV_DbgAssert((unsigned)j < (unsigned)n);
+ Matx<_Tp, m, 1> v;
+ for( int i = 0; i < m; i++ )
+ v.val[i] = val[i*n + j];
+ return v;
+}
+
+template<typename _Tp, int m, int n> inline
+typename Matx<_Tp, m, n>::diag_type Matx<_Tp, m, n>::diag() const
+{
+ diag_type d;
+ for( int i = 0; i < shortdim; i++ )
+ d.val[i] = val[i*n + i];
+ return d;
+}
+
+template<typename _Tp, int m, int n> inline
+const _Tp& Matx<_Tp, m, n>::operator()(int i, int j) const
+{
+ CV_DbgAssert( (unsigned)i < (unsigned)m && (unsigned)j < (unsigned)n );
+ return this->val[i*n + j];
+}
+
+template<typename _Tp, int m, int n> inline
+_Tp& Matx<_Tp, m, n>::operator ()(int i, int j)
+{
+ CV_DbgAssert( (unsigned)i < (unsigned)m && (unsigned)j < (unsigned)n );
+ return val[i*n + j];
+}
+
+template<typename _Tp, int m, int n> inline
+const _Tp& Matx<_Tp, m, n>::operator ()(int i) const
+{
+ CV_StaticAssert(m == 1 || n == 1, "Single index indexation requires matrix to be a column or a row");
+ CV_DbgAssert( (unsigned)i < (unsigned)(m+n-1) );
+ return val[i];
+}
+
+template<typename _Tp, int m, int n> inline
+_Tp& Matx<_Tp, m, n>::operator ()(int i)
+{
+ CV_StaticAssert(m == 1 || n == 1, "Single index indexation requires matrix to be a column or a row");
+ CV_DbgAssert( (unsigned)i < (unsigned)(m+n-1) );
+ return val[i];
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_AddOp)
+{
+ for( int i = 0; i < channels; i++ )
+ val[i] = saturate_cast<_Tp>(a.val[i] + b.val[i]);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_SubOp)
+{
+ for( int i = 0; i < channels; i++ )
+ val[i] = saturate_cast<_Tp>(a.val[i] - b.val[i]);
+}
+
+template<typename _Tp, int m, int n> template<typename _T2> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, m, n>& a, _T2 alpha, Matx_ScaleOp)
+{
+ for( int i = 0; i < channels; i++ )
+ val[i] = saturate_cast<_Tp>(a.val[i] * alpha);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_MulOp)
+{
+ for( int i = 0; i < channels; i++ )
+ val[i] = saturate_cast<_Tp>(a.val[i] * b.val[i]);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b, Matx_DivOp)
+{
+ for( int i = 0; i < channels; i++ )
+ val[i] = saturate_cast<_Tp>(a.val[i] / b.val[i]);
+}
+
+template<typename _Tp, int m, int n> template<int l> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, m, l>& a, const Matx<_Tp, l, n>& b, Matx_MatMulOp)
+{
+ for( int i = 0; i < m; i++ )
+ for( int j = 0; j < n; j++ )
+ {
+ _Tp s = 0;
+ for( int k = 0; k < l; k++ )
+ s += a(i, k) * b(k, j);
+ val[i*n + j] = s;
+ }
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp,m,n>::Matx(const Matx<_Tp, n, m>& a, Matx_TOp)
+{
+ for( int i = 0; i < m; i++ )
+ for( int j = 0; j < n; j++ )
+ val[i*n + j] = a(j, i);
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n> Matx<_Tp, m, n>::mul(const Matx<_Tp, m, n>& a) const
+{
+ return Matx<_Tp, m, n>(*this, a, Matx_MulOp());
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n> Matx<_Tp, m, n>::div(const Matx<_Tp, m, n>& a) const
+{
+ return Matx<_Tp, m, n>(*this, a, Matx_DivOp());
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, n, m> Matx<_Tp, m, n>::t() const
+{
+ return Matx<_Tp, n, m>(*this, Matx_TOp());
+}
+
+template<typename _Tp, int m, int n> inline
+Vec<_Tp, n> Matx<_Tp, m, n>::solve(const Vec<_Tp, m>& rhs, int method) const
+{
+ Matx<_Tp, n, 1> x = solve((const Matx<_Tp, m, 1>&)(rhs), method);
+ return (Vec<_Tp, n>&)(x);
+}
+
+template<typename _Tp, int m> static inline
+double determinant(const Matx<_Tp, m, m>& a)
+{
+ return cv::internal::Matx_DetOp<_Tp, m>()(a);
+}
+
+template<typename _Tp, int m, int n> static inline
+double trace(const Matx<_Tp, m, n>& a)
+{
+ _Tp s = 0;
+ for( int i = 0; i < std::min(m, n); i++ )
+ s += a(i,i);
+ return s;
+}
+
+template<typename _Tp, int m, int n> static inline
+double norm(const Matx<_Tp, m, n>& M)
+{
+ return std::sqrt(normL2Sqr<_Tp, double>(M.val, m*n));
+}
+
+template<typename _Tp, int m, int n> static inline
+double norm(const Matx<_Tp, m, n>& M, int normType)
+{
+ switch(normType) {
+ case NORM_INF:
+ return (double)normInf<_Tp, typename DataType<_Tp>::work_type>(M.val, m*n);
+ case NORM_L1:
+ return (double)normL1<_Tp, typename DataType<_Tp>::work_type>(M.val, m*n);
+ case NORM_L2SQR:
+ return (double)normL2Sqr<_Tp, typename DataType<_Tp>::work_type>(M.val, m*n);
+ default:
+ case NORM_L2:
+ return std::sqrt((double)normL2Sqr<_Tp, typename DataType<_Tp>::work_type>(M.val, m*n));
+ }
+}
+
+
+
+//////////////////////////////// matx comma initializer //////////////////////////////////
+
+template<typename _Tp, typename _T2, int m, int n> static inline
+MatxCommaInitializer<_Tp, m, n> operator << (const Matx<_Tp, m, n>& mtx, _T2 val)
+{
+ MatxCommaInitializer<_Tp, m, n> commaInitializer((Matx<_Tp, m, n>*)&mtx);
+ return (commaInitializer, val);
+}
+
+template<typename _Tp, int m, int n> inline
+MatxCommaInitializer<_Tp, m, n>::MatxCommaInitializer(Matx<_Tp, m, n>* _mtx)
+ : dst(_mtx), idx(0)
+{}
+
+template<typename _Tp, int m, int n> template<typename _T2> inline
+MatxCommaInitializer<_Tp, m, n>& MatxCommaInitializer<_Tp, m, n>::operator , (_T2 value)
+{
+ CV_DbgAssert( idx < m*n );
+ dst->val[idx++] = saturate_cast<_Tp>(value);
+ return *this;
+}
+
+template<typename _Tp, int m, int n> inline
+Matx<_Tp, m, n> MatxCommaInitializer<_Tp, m, n>::operator *() const
+{
+ CV_DbgAssert( idx == n*m );
+ return *dst;
+}
+
+
+
+/////////////////////////////////// Vec Implementation ///////////////////////////////////
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec() {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0)
+ : Matx<_Tp, cn, 1>(v0) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1)
+ : Matx<_Tp, cn, 1>(v0, v1) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2)
+ : Matx<_Tp, cn, 1>(v0, v1, v2) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3)
+ : Matx<_Tp, cn, 1>(v0, v1, v2, v3) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4)
+ : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5)
+ : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4, v5) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6)
+ : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4, v5, v6) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7)
+ : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4, v5, v6, v7) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8)
+ : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4, v5, v6, v7, v8) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9)
+ : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4, v5, v6, v7, v8, v9) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(_Tp v0, _Tp v1, _Tp v2, _Tp v3, _Tp v4, _Tp v5, _Tp v6, _Tp v7, _Tp v8, _Tp v9, _Tp v10, _Tp v11, _Tp v12, _Tp v13)
+ : Matx<_Tp, cn, 1>(v0, v1, v2, v3, v4, v5, v6, v7, v8, v9, v10, v11, v12, v13) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(const _Tp* values)
+ : Matx<_Tp, cn, 1>(values) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(const Vec<_Tp, cn>& m)
+ : Matx<_Tp, cn, 1>(m.val) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(const Matx<_Tp, cn, 1>& a, const Matx<_Tp, cn, 1>& b, Matx_AddOp op)
+ : Matx<_Tp, cn, 1>(a, b, op) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn>::Vec(const Matx<_Tp, cn, 1>& a, const Matx<_Tp, cn, 1>& b, Matx_SubOp op)
+ : Matx<_Tp, cn, 1>(a, b, op) {}
+
+template<typename _Tp, int cn> template<typename _T2> inline
+Vec<_Tp, cn>::Vec(const Matx<_Tp, cn, 1>& a, _T2 alpha, Matx_ScaleOp op)
+ : Matx<_Tp, cn, 1>(a, alpha, op) {}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn> Vec<_Tp, cn>::all(_Tp alpha)
+{
+ Vec v;
+ for( int i = 0; i < cn; i++ ) v.val[i] = alpha;
+ return v;
+}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn> Vec<_Tp, cn>::mul(const Vec<_Tp, cn>& v) const
+{
+ Vec<_Tp, cn> w;
+ for( int i = 0; i < cn; i++ ) w.val[i] = saturate_cast<_Tp>(this->val[i]*v.val[i]);
+ return w;
+}
+
+template<> inline
+Vec<float, 2> Vec<float, 2>::conj() const
+{
+ return cv::internal::conjugate(*this);
+}
+
+template<> inline
+Vec<double, 2> Vec<double, 2>::conj() const
+{
+ return cv::internal::conjugate(*this);
+}
+
+template<> inline
+Vec<float, 4> Vec<float, 4>::conj() const
+{
+ return cv::internal::conjugate(*this);
+}
+
+template<> inline
+Vec<double, 4> Vec<double, 4>::conj() const
+{
+ return cv::internal::conjugate(*this);
+}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn> Vec<_Tp, cn>::cross(const Vec<_Tp, cn>&) const
+{
+ CV_StaticAssert(cn == 3, "for arbitrary-size vector there is no cross-product defined");
+ return Vec<_Tp, cn>();
+}
+
+template<> inline
+Vec<float, 3> Vec<float, 3>::cross(const Vec<float, 3>& v) const
+{
+ return Vec<float,3>(this->val[1]*v.val[2] - this->val[2]*v.val[1],
+ this->val[2]*v.val[0] - this->val[0]*v.val[2],
+ this->val[0]*v.val[1] - this->val[1]*v.val[0]);
+}
+
+template<> inline
+Vec<double, 3> Vec<double, 3>::cross(const Vec<double, 3>& v) const
+{
+ return Vec<double,3>(this->val[1]*v.val[2] - this->val[2]*v.val[1],
+ this->val[2]*v.val[0] - this->val[0]*v.val[2],
+ this->val[0]*v.val[1] - this->val[1]*v.val[0]);
+}
+
+template<typename _Tp, int cn> template<typename T2> inline
+Vec<_Tp, cn>::operator Vec<T2, cn>() const
+{
+ Vec<T2, cn> v;
+ for( int i = 0; i < cn; i++ ) v.val[i] = saturate_cast<T2>(this->val[i]);
+ return v;
+}
+
+template<typename _Tp, int cn> inline
+const _Tp& Vec<_Tp, cn>::operator [](int i) const
+{
+ CV_DbgAssert( (unsigned)i < (unsigned)cn );
+ return this->val[i];
+}
+
+template<typename _Tp, int cn> inline
+_Tp& Vec<_Tp, cn>::operator [](int i)
+{
+ CV_DbgAssert( (unsigned)i < (unsigned)cn );
+ return this->val[i];
+}
+
+template<typename _Tp, int cn> inline
+const _Tp& Vec<_Tp, cn>::operator ()(int i) const
+{
+ CV_DbgAssert( (unsigned)i < (unsigned)cn );
+ return this->val[i];
+}
+
+template<typename _Tp, int cn> inline
+_Tp& Vec<_Tp, cn>::operator ()(int i)
+{
+ CV_DbgAssert( (unsigned)i < (unsigned)cn );
+ return this->val[i];
+}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn> normalize(const Vec<_Tp, cn>& v)
+{
+ double nv = norm(v);
+ return v * (nv ? 1./nv : 0.);
+}
+
+
+
+//////////////////////////////// matx comma initializer //////////////////////////////////
+
+
+template<typename _Tp, typename _T2, int cn> static inline
+VecCommaInitializer<_Tp, cn> operator << (const Vec<_Tp, cn>& vec, _T2 val)
+{
+ VecCommaInitializer<_Tp, cn> commaInitializer((Vec<_Tp, cn>*)&vec);
+ return (commaInitializer, val);
+}
+
+template<typename _Tp, int cn> inline
+VecCommaInitializer<_Tp, cn>::VecCommaInitializer(Vec<_Tp, cn>* _vec)
+ : MatxCommaInitializer<_Tp, cn, 1>(_vec)
+{}
+
+template<typename _Tp, int cn> template<typename _T2> inline
+VecCommaInitializer<_Tp, cn>& VecCommaInitializer<_Tp, cn>::operator , (_T2 value)
+{
+ CV_DbgAssert( this->idx < cn );
+ this->dst->val[this->idx++] = saturate_cast<_Tp>(value);
+ return *this;
+}
+
+template<typename _Tp, int cn> inline
+Vec<_Tp, cn> VecCommaInitializer<_Tp, cn>::operator *() const
+{
+ CV_DbgAssert( this->idx == cn );
+ return *this->dst;
+}
+
+//! @endcond
+
+///////////////////////////// Matx out-of-class operators ////////////////////////////////
+
+//! @relates cv::Matx
+//! @{
+
+template<typename _Tp1, typename _Tp2, int m, int n> static inline
+Matx<_Tp1, m, n>& operator += (Matx<_Tp1, m, n>& a, const Matx<_Tp2, m, n>& b)
+{
+ for( int i = 0; i < m*n; i++ )
+ a.val[i] = saturate_cast<_Tp1>(a.val[i] + b.val[i]);
+ return a;
+}
+
+template<typename _Tp1, typename _Tp2, int m, int n> static inline
+Matx<_Tp1, m, n>& operator -= (Matx<_Tp1, m, n>& a, const Matx<_Tp2, m, n>& b)
+{
+ for( int i = 0; i < m*n; i++ )
+ a.val[i] = saturate_cast<_Tp1>(a.val[i] - b.val[i]);
+ return a;
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator + (const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b)
+{
+ return Matx<_Tp, m, n>(a, b, Matx_AddOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator - (const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b)
+{
+ return Matx<_Tp, m, n>(a, b, Matx_SubOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n>& operator *= (Matx<_Tp, m, n>& a, int alpha)
+{
+ for( int i = 0; i < m*n; i++ )
+ a.val[i] = saturate_cast<_Tp>(a.val[i] * alpha);
+ return a;
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n>& operator *= (Matx<_Tp, m, n>& a, float alpha)
+{
+ for( int i = 0; i < m*n; i++ )
+ a.val[i] = saturate_cast<_Tp>(a.val[i] * alpha);
+ return a;
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n>& operator *= (Matx<_Tp, m, n>& a, double alpha)
+{
+ for( int i = 0; i < m*n; i++ )
+ a.val[i] = saturate_cast<_Tp>(a.val[i] * alpha);
+ return a;
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator * (const Matx<_Tp, m, n>& a, int alpha)
+{
+ return Matx<_Tp, m, n>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator * (const Matx<_Tp, m, n>& a, float alpha)
+{
+ return Matx<_Tp, m, n>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator * (const Matx<_Tp, m, n>& a, double alpha)
+{
+ return Matx<_Tp, m, n>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator * (int alpha, const Matx<_Tp, m, n>& a)
+{
+ return Matx<_Tp, m, n>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator * (float alpha, const Matx<_Tp, m, n>& a)
+{
+ return Matx<_Tp, m, n>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator * (double alpha, const Matx<_Tp, m, n>& a)
+{
+ return Matx<_Tp, m, n>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Matx<_Tp, m, n> operator - (const Matx<_Tp, m, n>& a)
+{
+ return Matx<_Tp, m, n>(a, -1, Matx_ScaleOp());
+}
+
+template<typename _Tp, int m, int n, int l> static inline
+Matx<_Tp, m, n> operator * (const Matx<_Tp, m, l>& a, const Matx<_Tp, l, n>& b)
+{
+ return Matx<_Tp, m, n>(a, b, Matx_MatMulOp());
+}
+
+template<typename _Tp, int m, int n> static inline
+Vec<_Tp, m> operator * (const Matx<_Tp, m, n>& a, const Vec<_Tp, n>& b)
+{
+ Matx<_Tp, m, 1> c(a, b, Matx_MatMulOp());
+ return (const Vec<_Tp, m>&)(c);
+}
+
+template<typename _Tp, int m, int n> static inline
+bool operator == (const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b)
+{
+ for( int i = 0; i < m*n; i++ )
+ if( a.val[i] != b.val[i] ) return false;
+ return true;
+}
+
+template<typename _Tp, int m, int n> static inline
+bool operator != (const Matx<_Tp, m, n>& a, const Matx<_Tp, m, n>& b)
+{
+ return !(a == b);
+}
+
+//! @}
+
+////////////////////////////// Vec out-of-class operators ////////////////////////////////
+
+//! @relates cv::Vec
+//! @{
+
+template<typename _Tp1, typename _Tp2, int cn> static inline
+Vec<_Tp1, cn>& operator += (Vec<_Tp1, cn>& a, const Vec<_Tp2, cn>& b)
+{
+ for( int i = 0; i < cn; i++ )
+ a.val[i] = saturate_cast<_Tp1>(a.val[i] + b.val[i]);
+ return a;
+}
+
+template<typename _Tp1, typename _Tp2, int cn> static inline
+Vec<_Tp1, cn>& operator -= (Vec<_Tp1, cn>& a, const Vec<_Tp2, cn>& b)
+{
+ for( int i = 0; i < cn; i++ )
+ a.val[i] = saturate_cast<_Tp1>(a.val[i] - b.val[i]);
+ return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator + (const Vec<_Tp, cn>& a, const Vec<_Tp, cn>& b)
+{
+ return Vec<_Tp, cn>(a, b, Matx_AddOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator - (const Vec<_Tp, cn>& a, const Vec<_Tp, cn>& b)
+{
+ return Vec<_Tp, cn>(a, b, Matx_SubOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn>& operator *= (Vec<_Tp, cn>& a, int alpha)
+{
+ for( int i = 0; i < cn; i++ )
+ a[i] = saturate_cast<_Tp>(a[i]*alpha);
+ return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn>& operator *= (Vec<_Tp, cn>& a, float alpha)
+{
+ for( int i = 0; i < cn; i++ )
+ a[i] = saturate_cast<_Tp>(a[i]*alpha);
+ return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn>& operator *= (Vec<_Tp, cn>& a, double alpha)
+{
+ for( int i = 0; i < cn; i++ )
+ a[i] = saturate_cast<_Tp>(a[i]*alpha);
+ return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn>& operator /= (Vec<_Tp, cn>& a, int alpha)
+{
+ double ialpha = 1./alpha;
+ for( int i = 0; i < cn; i++ )
+ a[i] = saturate_cast<_Tp>(a[i]*ialpha);
+ return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn>& operator /= (Vec<_Tp, cn>& a, float alpha)
+{
+ float ialpha = 1.f/alpha;
+ for( int i = 0; i < cn; i++ )
+ a[i] = saturate_cast<_Tp>(a[i]*ialpha);
+ return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn>& operator /= (Vec<_Tp, cn>& a, double alpha)
+{
+ double ialpha = 1./alpha;
+ for( int i = 0; i < cn; i++ )
+ a[i] = saturate_cast<_Tp>(a[i]*ialpha);
+ return a;
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator * (const Vec<_Tp, cn>& a, int alpha)
+{
+ return Vec<_Tp, cn>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator * (int alpha, const Vec<_Tp, cn>& a)
+{
+ return Vec<_Tp, cn>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator * (const Vec<_Tp, cn>& a, float alpha)
+{
+ return Vec<_Tp, cn>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator * (float alpha, const Vec<_Tp, cn>& a)
+{
+ return Vec<_Tp, cn>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator * (const Vec<_Tp, cn>& a, double alpha)
+{
+ return Vec<_Tp, cn>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator * (double alpha, const Vec<_Tp, cn>& a)
+{
+ return Vec<_Tp, cn>(a, alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator / (const Vec<_Tp, cn>& a, int alpha)
+{
+ return Vec<_Tp, cn>(a, 1./alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator / (const Vec<_Tp, cn>& a, float alpha)
+{
+ return Vec<_Tp, cn>(a, 1.f/alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator / (const Vec<_Tp, cn>& a, double alpha)
+{
+ return Vec<_Tp, cn>(a, 1./alpha, Matx_ScaleOp());
+}
+
+template<typename _Tp, int cn> static inline
+Vec<_Tp, cn> operator - (const Vec<_Tp, cn>& a)
+{
+ Vec<_Tp,cn> t;
+ for( int i = 0; i < cn; i++ ) t.val[i] = saturate_cast<_Tp>(-a.val[i]);
+ return t;
+}
+
+template<typename _Tp> inline Vec<_Tp, 4> operator * (const Vec<_Tp, 4>& v1, const Vec<_Tp, 4>& v2)
+{
+ return Vec<_Tp, 4>(saturate_cast<_Tp>(v1[0]*v2[0] - v1[1]*v2[1] - v1[2]*v2[2] - v1[3]*v2[3]),
+ saturate_cast<_Tp>(v1[0]*v2[1] + v1[1]*v2[0] + v1[2]*v2[3] - v1[3]*v2[2]),
+ saturate_cast<_Tp>(v1[0]*v2[2] - v1[1]*v2[3] + v1[2]*v2[0] + v1[3]*v2[1]),
+ saturate_cast<_Tp>(v1[0]*v2[3] + v1[1]*v2[2] - v1[2]*v2[1] + v1[3]*v2[0]));
+}
+
+template<typename _Tp> inline Vec<_Tp, 4>& operator *= (Vec<_Tp, 4>& v1, const Vec<_Tp, 4>& v2)
+{
+ v1 = v1 * v2;
+ return v1;
+}
+
+//! @}
+
+} // cv
+
+#endif // OPENCV_CORE_MATX_HPP