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614e250fd3
Rename features2d #26405 This PR renames the module _features2d_ to _features_ as one of the Big OpenCV Cleanup #25007. Related PR: opencv/opencv_contrib: [#3820](https://github.com/opencv/opencv_contrib/pull/3820) opencv/ci-gha-workflow: [#192](https://github.com/opencv/ci-gha-workflow/pull/192)
175 lines
6.2 KiB
C++
Executable File
175 lines
6.2 KiB
C++
Executable File
/*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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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., 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 the copyright holders 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 __OPENCV_PRECOMP_H__
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#define __OPENCV_PRECOMP_H__
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#ifdef _MSC_VER
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# define _SILENCE_CXX17_C_HEADER_DEPRECATION_WARNING
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# define _SILENCE_CXX17_CODECVT_HEADER_DEPRECATION_WARNING
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#endif
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#include "opencv2/core/utility.hpp"
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#include "opencv2/core/private.hpp"
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#include "opencv2/core/affine.hpp"
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#include "opencv2/core/base.hpp"
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#include "opencv2/core/cvstd.hpp"
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#include "opencv2/core/matx.hpp"
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#include "opencv2/core/quaternion.hpp"
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#include "opencv2/core/dualquaternion.hpp"
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#include "opencv2/core/types.hpp"
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#include "opencv2/core/utils/logger.hpp"
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#include "opencv2/core/utils/trace.hpp"
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#include "opencv2/3d.hpp"
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#include "opencv2/imgproc.hpp"
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#include "opencv2/features.hpp"
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#include "opencv2/core/ocl.hpp"
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#include "opencv2/core/hal/intrin.hpp"
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#include "opencv2/3d/detail/optimizer.hpp"
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#include "opencv2/3d/detail/kinfu_frame.hpp"
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#include <atomic>
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#include <algorithm>
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#include <functional>
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#include <limits>
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#include <stack>
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#include <vector>
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#include <list>
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#include <set>
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#include <unordered_set>
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#include <map>
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#include <unordered_map>
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#define GET_OPTIMIZED(func) (func)
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namespace cv {
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/**
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* Compute the number of iterations given the confidence, outlier ratio, number
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* of model points and the maximum iteration number.
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*
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* @param p confidence value
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* @param ep outlier ratio
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* @param modelPoints number of model points required for estimation
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* @param maxIters maximum number of iterations
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* @return The number of iterations according to the formula
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* \f[
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* \frac{\ln(1-p)}{\ln\left(1-(1-ep)^\mathrm{modelPoints}\right)}
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* \f]
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*
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* If the computed number of iterations is larger than maxIters, then maxIters is returned.
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*/
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int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters );
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class CV_EXPORTS PointSetRegistrator : public Algorithm
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{
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public:
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class CV_EXPORTS Callback
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{
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public:
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virtual ~Callback() {}
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virtual int runKernel(InputArray m1, InputArray m2, OutputArray model) const = 0;
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virtual void computeError(InputArray m1, InputArray m2, InputArray model, OutputArray err) const = 0;
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virtual bool checkSubset(InputArray, InputArray, int) const { return true; }
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};
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virtual void setCallback(const Ptr<PointSetRegistrator::Callback>& cb) = 0;
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virtual bool run(InputArray m1, InputArray m2, OutputArray model, OutputArray mask) const = 0;
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};
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CV_EXPORTS Ptr<PointSetRegistrator> createRANSACPointSetRegistrator(const Ptr<PointSetRegistrator::Callback>& cb,
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int modelPoints, double threshold,
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double confidence=0.99, int maxIters=1000 );
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CV_EXPORTS Ptr<PointSetRegistrator> createLMeDSPointSetRegistrator(const Ptr<PointSetRegistrator::Callback>& cb,
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int modelPoints, double confidence=0.99, int maxIters=1000 );
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template<typename T> inline int compressElems( T* ptr, const uchar* mask, int mstep, int count )
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{
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int i, j;
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for( i = j = 0; i < count; i++ )
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if( mask[i*mstep] )
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{
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if( i > j )
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ptr[j] = ptr[i];
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j++;
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}
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return j;
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}
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static inline bool haveCollinearPoints( const Mat& m, int count )
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{
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int j, k, i = count-1;
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const Point2f* ptr = m.ptr<Point2f>();
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// check that the i-th selected point does not belong
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// to a line connecting some previously selected points
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// also checks that points are not too close to each other
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for( j = 0; j < i; j++ )
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{
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double dx1 = ptr[j].x - ptr[i].x;
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double dy1 = ptr[j].y - ptr[i].y;
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for( k = 0; k < j; k++ )
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{
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double dx2 = ptr[k].x - ptr[i].x;
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double dy2 = ptr[k].y - ptr[i].y;
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if( fabs(dx2*dy1 - dy2*dx1) <= FLT_EPSILON*(fabs(dx1) + fabs(dy1) + fabs(dx2) + fabs(dy2)))
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return true;
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}
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}
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return false;
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}
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void findExtrinsicCameraParams2( const Mat& objectPoints,
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const Mat& imagePoints, const Mat& A,
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const Mat& distCoeffs, Mat& rvec, Mat& tvec,
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int useExtrinsicGuess );
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} // namespace cv
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#endif
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