add part of opencv

Lib/opencv/sources/modules/calib3d/src/precomp.hpp

@@ -0,0 +1,142 @@
+/*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.
+// 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_PRECOMP_H__
+#define __OPENCV_PRECOMP_H__
+
+#include "opencv2/core/utility.hpp"
+
+#include "opencv2/core/private.hpp"
+
+#include "opencv2/calib3d.hpp"
+#include "opencv2/imgproc.hpp"
+#include "opencv2/features2d.hpp"
+
+
+#include "opencv2/core/ocl.hpp"
+
+#define GET_OPTIMIZED(func) (func)
+
+
+namespace cv
+{
+
+/**
+ * Compute the number of iterations given the confidence, outlier ratio, number
+ * of model points and the maximum iteration number.
+ *
+ * @param p confidence value
+ * @param ep outlier ratio
+ * @param modelPoints number of model points required for estimation
+ * @param maxIters maximum number of iterations
+ * @return
+ * \f[
+ * \frac{\ln(1-p)}{\ln\left(1-(1-ep)^\mathrm{modelPoints}\right)}
+ * \f]
+ *
+ * If the computed number of iterations is larger than maxIters, then maxIters is returned.
+ */
+int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters );
+
+class CV_EXPORTS PointSetRegistrator : public Algorithm
+{
+public:
+    class CV_EXPORTS Callback
+    {
+    public:
+        virtual ~Callback() {}
+        virtual int runKernel(InputArray m1, InputArray m2, OutputArray model) const = 0;
+        virtual void computeError(InputArray m1, InputArray m2, InputArray model, OutputArray err) const = 0;
+        virtual bool checkSubset(InputArray, InputArray, int) const { return true; }
+    };
+
+    virtual void setCallback(const Ptr<PointSetRegistrator::Callback>& cb) = 0;
+    virtual bool run(InputArray m1, InputArray m2, OutputArray model, OutputArray mask) const = 0;
+};
+
+CV_EXPORTS Ptr<PointSetRegistrator> createRANSACPointSetRegistrator(const Ptr<PointSetRegistrator::Callback>& cb,
+                                                                    int modelPoints, double threshold,
+                                                                    double confidence=0.99, int maxIters=1000 );
+
+CV_EXPORTS Ptr<PointSetRegistrator> createLMeDSPointSetRegistrator(const Ptr<PointSetRegistrator::Callback>& cb,
+                                                                   int modelPoints, double confidence=0.99, int maxIters=1000 );
+
+template<typename T> inline int compressElems( T* ptr, const uchar* mask, int mstep, int count )
+{
+    int i, j;
+    for( i = j = 0; i < count; i++ )
+        if( mask[i*mstep] )
+        {
+            if( i > j )
+                ptr[j] = ptr[i];
+            j++;
+        }
+    return j;
+}
+
+static inline bool haveCollinearPoints( const Mat& m, int count )
+{
+    int j, k, i = count-1;
+    const Point2f* ptr = m.ptr<Point2f>();
+
+    // check that the i-th selected point does not belong
+    // to a line connecting some previously selected points
+    // also checks that points are not too close to each other
+    for( j = 0; j < i; j++ )
+    {
+        double dx1 = ptr[j].x - ptr[i].x;
+        double dy1 = ptr[j].y - ptr[i].y;
+        for( k = 0; k < j; k++ )
+        {
+            double dx2 = ptr[k].x - ptr[i].x;
+            double dy2 = ptr[k].y - ptr[i].y;
+            if( fabs(dx2*dy1 - dy2*dx1) <= FLT_EPSILON*(fabs(dx1) + fabs(dy1) + fabs(dx2) + fabs(dy2)))
+                return true;
+        }
+    }
+    return false;
+}
+
+} // namespace cv
+
+int checkChessboardBinary(const cv::Mat & img, const cv::Size & size);
+
+#endif