1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 #ifndef __OPENCV_PRECOMP_H__ 43 #define __OPENCV_PRECOMP_H__ 44 45 #include "opencv2/calib3d.hpp" 46 #include "opencv2/imgproc.hpp" 47 #include "opencv2/features2d.hpp" 48 #include "opencv2/core/utility.hpp" 49 50 #include "opencv2/core/private.hpp" 51 52 #include "opencv2/core/ocl.hpp" 53 54 #ifdef HAVE_TEGRA_OPTIMIZATION 55 #include "opencv2/calib3d/calib3d_tegra.hpp" 56 #else 57 #define GET_OPTIMIZED(func) (func) 58 #endif 59 60 61 namespace cv 62 { 63 64 int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters ); 65 66 class CV_EXPORTS LMSolver : public Algorithm 67 { 68 public: 69 class CV_EXPORTS Callback 70 { 71 public: 72 virtual ~Callback() {} 73 virtual bool compute(InputArray param, OutputArray err, OutputArray J) const = 0; 74 }; 75 76 virtual void setCallback(const Ptr<LMSolver::Callback>& cb) = 0; 77 virtual int run(InputOutputArray _param0) const = 0; 78 }; 79 80 CV_EXPORTS Ptr<LMSolver> createLMSolver(const Ptr<LMSolver::Callback>& cb, int maxIters); 81 82 class CV_EXPORTS PointSetRegistrator : public Algorithm 83 { 84 public: 85 class CV_EXPORTS Callback 86 { 87 public: 88 virtual ~Callback() {} 89 virtual int runKernel(InputArray m1, InputArray m2, OutputArray model) const = 0; 90 virtual void computeError(InputArray m1, InputArray m2, InputArray model, OutputArray err) const = 0; 91 virtual bool checkSubset(InputArray, InputArray, int) const { return true; } 92 }; 93 94 virtual void setCallback(const Ptr<PointSetRegistrator::Callback>& cb) = 0; 95 virtual bool run(InputArray m1, InputArray m2, OutputArray model, OutputArray mask) const = 0; 96 }; 97 98 CV_EXPORTS Ptr<PointSetRegistrator> createRANSACPointSetRegistrator(const Ptr<PointSetRegistrator::Callback>& cb, 99 int modelPoints, double threshold, 100 double confidence=0.99, int maxIters=1000 ); 101 102 CV_EXPORTS Ptr<PointSetRegistrator> createLMeDSPointSetRegistrator(const Ptr<PointSetRegistrator::Callback>& cb, 103 int modelPoints, double confidence=0.99, int maxIters=1000 ); 104 105 template<typename T> inline int compressElems( T* ptr, const uchar* mask, int mstep, int count ) 106 { 107 int i, j; 108 for( i = j = 0; i < count; i++ ) 109 if( mask[i*mstep] ) 110 { 111 if( i > j ) 112 ptr[j] = ptr[i]; 113 j++; 114 } 115 return j; 116 } 117 118 } 119 120 #endif 121