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10 // License Agreement
11 // For Open Source Computer Vision Library
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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:
~Callback()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:
~Callback()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;
checkSubset(InputArray,InputArray,int) const91 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
compressElems(T * ptr,const uchar * mask,int mstep,int count)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