| /*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*/ | |
| 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 The number of iterations according to the formula | |
| * \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); | |