2010-05-12 01:44:00 +08:00
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef _CV_VM_H_
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#define _CV_VM_H_
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/*----------------------- Internal ViewMorphing Functions ------------------------------*/
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/*======================================================================================*/
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typedef struct CvMatrix4
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{
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float m[4][4];
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}
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CvMatrix4;
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/* Scanline section. Find coordinates by fundamental matrix */
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/* Epsilon and real zero */
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#define EPSILON 1.e-4
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//#define REAL_ZERO(x) ( (x) < EPSILON && (x) > -EPSILON)
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#define REAL_ZERO(x) ( (x) < 1e-8 && (x) > -1e-8)
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#define SIGN(x) ( (x)<0 ? -1:((x)>0?1:0 ) )
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CvStatus icvMakeScanlinesLengths( int* scanlines,
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int numlines,
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int* lens);
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/*=============================== PreWarp section ======================================*/
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CV_INLINE int icvGetColor(uchar* valueRGB);
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CvStatus icvFindRunsInOneImage(
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int numLines, /* number of scanlines */
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uchar* prewarp, /* prewarp image */
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int* line_lens, /* line lengths in pixels */
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int* runs, /* result runs */
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int* num_runs);
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/*================================ Morphing section ====================================*/
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CvStatus icvMorphEpilines8uC3( uchar* first_pix, /* raster epiline from the first image */
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uchar* second_pix, /* raster epiline from the second image */
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uchar* dst_pix, /* raster epiline from the destination image */
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/* (it's an output parameter) */
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float alpha, /* relative position of camera */
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int* first, /* first sequence of runs */
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int first_runs, /* it's length */
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int* second, /* second sequence of runs */
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int second_runs,
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int* first_corr, /* correspond information for the 1st seq */
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int* second_corr,
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int dst_len); /* correspond information for the 2nd seq */
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/*========================== Dynamic correspond section ================================*/
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CvStatus icvDynamicCorrespond( int* first, /* first sequence of runs */
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/* s0|w0|s1|w1|...|s(n-1)|w(n-1)|sn */
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int first_runs, /* number of runs */
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int* second, /* second sequence of runs */
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int second_runs,
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int* first_corr, /* s0'|e0'|s1'|e1'|... */
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int* second_corr );
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/*============================= PostWarp Functions =====================================*/
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CvStatus icvFetchLine8uC3R(
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uchar* src, int src_step,
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uchar* dst, int* dst_num,
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CvSize src_size,
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CvPoint start,
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CvPoint end );
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CvStatus icvDrawLine8uC3R(
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uchar* src, int src_num,
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uchar* dst, int dst_step,
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CvSize dst_size,
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CvPoint start,
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CvPoint end );
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/*============================== Fundamental Matrix Functions ==========================*/
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CvStatus icvPoint7( int* points1,
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int* points2,
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double* F,
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int* amount
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);
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CvStatus icvCubic( double a2, double a1,
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double a0, double* squares );
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double icvDet( double* M );
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double icvMinor( double* M, int x, int y );
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int
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icvGaussMxN( double *A, double *B, int M, int N, double **solutions );
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CvStatus
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icvGetCoef( double *f1, double *f2, double *a2, double *a1, double *a0 );
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/*================================= Scanlines Functions ================================*/
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CvStatus icvGetCoefficient( CvMatrix3* matrix,
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CvSize imgSize,
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int* scanlines_1,
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int* scanlines_2,
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int* numlines);
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CvStatus icvGetCoefficientDefault( CvMatrix3* matrix,
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CvSize imgSize,
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int* scanlines_1,
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int* scanlines_2,
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int* numlines);
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CvStatus icvGetCoefficientStereo( CvMatrix3* matrix,
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CvSize imgSize,
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float* l_epipole,
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float* r_epipole,
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int* scanlines_1,
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int* scanlines_2,
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int* numlines
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);
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CvStatus icvGetCoefficientOrto( CvMatrix3* matrix,
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CvSize imgSize,
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int* scanlines_1,
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int* scanlines_2,
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int* numlines);
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CvStatus icvGetCrossEpilineFrame( CvSize imgSize,
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float* epiline,
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int* x1,
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int* y1,
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int* x2,
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int* y2
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);
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2012-10-17 07:18:30 +08:00
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CvStatus icvBuildScanlineLeftStereo(
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2010-05-12 01:44:00 +08:00
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CvSize imgSize,
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CvMatrix3* matrix,
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float* l_epipole,
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float* l_angle,
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float l_radius,
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int* scanlines_1,
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int* scanlines_2,
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int* numlines);
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CvStatus icvBuildScanlineRightStereo(
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CvSize imgSize,
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CvMatrix3* matrix,
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float* r_epipole,
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float* r_angle,
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float r_radius,
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int* scanlines_1,
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int* scanlines_2,
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int* numlines);
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CvStatus icvGetStartEnd1(
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CvMatrix3* matrix,
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CvSize imgSize,
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float* l_start_end,
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float* r_start_end );
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CvStatus icvGetStartEnd2(
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CvMatrix3* matrix,
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CvSize imgSize,
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float* l_start_end,
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float* r_start_end );
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CvStatus icvGetStartEnd3(
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CvMatrix3* matrix,
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CvSize imgSize,
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float* l_start_end,
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float* r_start_end );
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CvStatus icvGetStartEnd4(
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CvMatrix3* matrix,
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CvSize imgSize,
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float* l_start_end,
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float* r_start_end );
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CvStatus icvBuildScanlineLeft(
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CvMatrix3* matrix,
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CvSize imgSize,
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int* scanlines_1,
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int* scanlines_2,
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float* l_start_end,
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int* numlines
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);
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CvStatus icvBuildScanlineRight(
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CvMatrix3* matrix,
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CvSize imgSize,
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int* scanlines_1,
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int* scanlines_2,
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float* r_start_end,
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int* numlines
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);
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/*=================================== LMedS Functions ==================================*/
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CvStatus icvLMedS7(
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int* points1,
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int* points2,
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CvMatrix3* matrix);
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CvStatus icvLMedS( int* points1,
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int* points2,
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int numPoints,
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CvMatrix3* fundamentalMatrix );
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/*
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CvStatus icvFindFundamentalMatrix(
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int* points1,
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int* points2,
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int numpoints,
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int method,
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CvMatrix3* matrix);
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*/
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void icvChoose7( int* ml, int* mr,
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int num, int* ml7,
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int* mr7 );
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double icvMedian( int* ml, int* mr,
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int num, double* F );
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int icvBoltingPoints( int* ml, int* mr,
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int num, double* F,
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double Mj, int* *new_ml,
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int* *new_mr, int* new_num);
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CvStatus icvPoints8( int* ml, int* mr,
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int num, double* F );
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CvStatus icvRank2Constraint( double* F );
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CvStatus icvSort( double* array, int length );
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double icvAnalyticPoints8( double* A,
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int num, double* F );
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int icvSingularValueDecomposition( int M,
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int N,
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double* A,
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double* W,
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int get_U,
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double* U,
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int get_V,
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double* V
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);
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2010-05-12 01:44:00 +08:00
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/*======================================================================================*/
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#endif/*_CV_VM_H_*/
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