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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
61namespace cv
62{
63
64int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters );
65
66class CV_EXPORTS LMSolver : public Algorithm
67{
68public:
69    class CV_EXPORTS Callback
70    {
71    public:
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
80CV_EXPORTS Ptr<LMSolver> createLMSolver(const Ptr<LMSolver::Callback>& cb, int maxIters);
81
82class CV_EXPORTS PointSetRegistrator : public Algorithm
83{
84public:
85    class CV_EXPORTS Callback
86    {
87    public:
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;
91        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
98CV_EXPORTS Ptr<PointSetRegistrator> createRANSACPointSetRegistrator(const Ptr<PointSetRegistrator::Callback>& cb,
99                                                                    int modelPoints, double threshold,
100                                                                    double confidence=0.99, int maxIters=1000 );
101
102CV_EXPORTS Ptr<PointSetRegistrator> createLMeDSPointSetRegistrator(const Ptr<PointSetRegistrator::Callback>& cb,
103                                                                   int modelPoints, double confidence=0.99, int maxIters=1000 );
104
105template<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