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      1 /*M///////////////////////////////////////////////////////////////////////////////////////
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      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.
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     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