sci2c arduino updated

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diff --git a/2.3-1/thirdparty/includes/OpenCV/opencv2/stitching/detail/matchers.hpp b/2.3-1/thirdparty/includes/OpenCV/opencv2/stitching/detail/matchers.hpp
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+/*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_STITCHING_MATCHERS_HPP__
+#define __OPENCV_STITCHING_MATCHERS_HPP__
+
+#include "opencv2/core/core.hpp"
+#include "opencv2/core/gpumat.hpp"
+#include "opencv2/features2d/features2d.hpp"
+
+#include "opencv2/opencv_modules.hpp"
+
+#if defined(HAVE_OPENCV_NONFREE)
+    #include "opencv2/nonfree/gpu.hpp"
+#endif
+
+namespace cv {
+namespace detail {
+
+struct CV_EXPORTS ImageFeatures
+{
+    int img_idx;
+    Size img_size;
+    std::vector<KeyPoint> keypoints;
+    Mat descriptors;
+};
+
+
+class CV_EXPORTS FeaturesFinder
+{
+public:
+    virtual ~FeaturesFinder() {}
+    void operator ()(const Mat &image, ImageFeatures &features);
+    void operator ()(const Mat &image, ImageFeatures &features, const std::vector<cv::Rect> &rois);
+    virtual void collectGarbage() {}
+
+protected:
+    virtual void find(const Mat &image, ImageFeatures &features) = 0;
+};
+
+
+class CV_EXPORTS SurfFeaturesFinder : public FeaturesFinder
+{
+public:
+    SurfFeaturesFinder(double hess_thresh = 300., int num_octaves = 3, int num_layers = 4,
+                       int num_octaves_descr = /*4*/3, int num_layers_descr = /*2*/4);
+
+private:
+    void find(const Mat &image, ImageFeatures &features);
+
+    Ptr<FeatureDetector> detector_;
+    Ptr<DescriptorExtractor> extractor_;
+    Ptr<Feature2D> surf;
+};
+
+class CV_EXPORTS OrbFeaturesFinder : public FeaturesFinder
+{
+public:
+    OrbFeaturesFinder(Size _grid_size = Size(3,1), int nfeatures=1500, float scaleFactor=1.3f, int nlevels=5);
+
+private:
+    void find(const Mat &image, ImageFeatures &features);
+
+    Ptr<ORB> orb;
+    Size grid_size;
+};
+
+
+#if defined(HAVE_OPENCV_NONFREE)
+class CV_EXPORTS SurfFeaturesFinderGpu : public FeaturesFinder
+{
+public:
+    SurfFeaturesFinderGpu(double hess_thresh = 300., int num_octaves = 3, int num_layers = 4,
+                          int num_octaves_descr = 4, int num_layers_descr = 2);
+
+    void collectGarbage();
+
+private:
+    void find(const Mat &image, ImageFeatures &features);
+
+    gpu::GpuMat image_;
+    gpu::GpuMat gray_image_;
+    gpu::SURF_GPU surf_;
+    gpu::GpuMat keypoints_;
+    gpu::GpuMat descriptors_;
+#if defined(HAVE_OPENCV_GPU) && !defined(DYNAMIC_CUDA_SUPPORT)
+    int num_octaves_, num_layers_;
+    int num_octaves_descr_, num_layers_descr_;
+#endif
+};
+#endif
+
+
+struct CV_EXPORTS MatchesInfo
+{
+    MatchesInfo();
+    MatchesInfo(const MatchesInfo &other);
+    const MatchesInfo& operator =(const MatchesInfo &other);
+
+    int src_img_idx, dst_img_idx;       // Images indices (optional)
+    std::vector<DMatch> matches;
+    std::vector<uchar> inliers_mask;    // Geometrically consistent matches mask
+    int num_inliers;                    // Number of geometrically consistent matches
+    Mat H;                              // Estimated homography
+    double confidence;                  // Confidence two images are from the same panorama
+};
+
+
+class CV_EXPORTS FeaturesMatcher
+{
+public:
+    virtual ~FeaturesMatcher() {}
+
+    void operator ()(const ImageFeatures &features1, const ImageFeatures &features2,
+                     MatchesInfo& matches_info) { match(features1, features2, matches_info); }
+
+    void operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches,
+                     const cv::Mat &mask = cv::Mat());
+
+    bool isThreadSafe() const { return is_thread_safe_; }
+
+    virtual void collectGarbage() {}
+
+protected:
+    FeaturesMatcher(bool is_thread_safe = false) : is_thread_safe_(is_thread_safe) {}
+
+    virtual void match(const ImageFeatures &features1, const ImageFeatures &features2,
+                       MatchesInfo& matches_info) = 0;
+
+    bool is_thread_safe_;
+};
+
+
+class CV_EXPORTS BestOf2NearestMatcher : public FeaturesMatcher
+{
+public:
+    BestOf2NearestMatcher(bool try_use_gpu = false, float match_conf = 0.3f, int num_matches_thresh1 = 6,
+                          int num_matches_thresh2 = 6);
+
+    void collectGarbage();
+
+protected:
+    void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo &matches_info);
+
+    int num_matches_thresh1_;
+    int num_matches_thresh2_;
+    Ptr<FeaturesMatcher> impl_;
+};
+
+} // namespace detail
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_MATCHERS_HPP__