path: root/thirdparty/includes/OpenCV/opencv2/legacy/compat.hpp

/*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.
//
//
//                        Intel License Agreement
//                For Open Source Computer Vision Library
//
// Copyright( C) 2000, Intel Corporation, 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 Intel Corporation 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*/

/*
   A few macros and definitions for backward compatibility
   with the previous versions of OpenCV. They are obsolete and
   are likely to be removed in future. To check whether your code
   uses any of these, define CV_NO_BACKWARD_COMPATIBILITY before
   including cv.h.
*/

#ifndef __OPENCV_COMPAT_HPP__
#define __OPENCV_COMPAT_HPP__

#include "opencv2/core/core_c.h"
#include "opencv2/imgproc/types_c.h"

#include <math.h>
#include <string.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef int CvMatType;
typedef int CvDisMaskType;
typedef CvMat CvMatArray;

typedef int CvThreshType;
typedef int CvAdaptiveThreshMethod;
typedef int CvCompareMethod;
typedef int CvFontFace;
typedef int CvPolyApproxMethod;
typedef int CvContoursMatchMethod;
typedef int CvContourTreesMatchMethod;
typedef int CvCoeffType;
typedef int CvRodriguesType;
typedef int CvElementShape;
typedef int CvMorphOp;
typedef int CvTemplMatchMethod;

typedef CvPoint2D64f CvPoint2D64d;
typedef CvPoint3D64f CvPoint3D64d;

enum
{
    CV_MAT32F      = CV_32FC1,
    CV_MAT3x1_32F  = CV_32FC1,
    CV_MAT4x1_32F  = CV_32FC1,
    CV_MAT3x3_32F  = CV_32FC1,
    CV_MAT4x4_32F  = CV_32FC1,

    CV_MAT64D      = CV_64FC1,
    CV_MAT3x1_64D  = CV_64FC1,
    CV_MAT4x1_64D  = CV_64FC1,
    CV_MAT3x3_64D  = CV_64FC1,
    CV_MAT4x4_64D  = CV_64FC1
};

enum
{
    IPL_GAUSSIAN_5x5 = 7
};

typedef CvBox2D  CvBox2D32f;

/* allocation/deallocation macros */
#define cvCreateImageData   cvCreateData
#define cvReleaseImageData  cvReleaseData
#define cvSetImageData      cvSetData
#define cvGetImageRawData   cvGetRawData

#define cvmAlloc            cvCreateData
#define cvmFree             cvReleaseData
#define cvmAllocArray       cvCreateData
#define cvmFreeArray        cvReleaseData

#define cvIntegralImage     cvIntegral
#define cvMatchContours     cvMatchShapes

CV_EXPORTS CvMat cvMatArray( int rows, int cols, int type,
                            int count, void* data CV_DEFAULT(0));

#define cvUpdateMHIByTime  cvUpdateMotionHistory

#define cvAccMask cvAcc
#define cvSquareAccMask cvSquareAcc
#define cvMultiplyAccMask cvMultiplyAcc
#define cvRunningAvgMask(imgY, imgU, mask, alpha) cvRunningAvg(imgY, imgU, alpha, mask)

#define cvSetHistThresh  cvSetHistBinRanges
#define cvCalcHistMask(img, mask, hist, doNotClear) cvCalcHist(img, hist, doNotClear, mask)

CV_EXPORTS double cvMean( const CvArr* image, const CvArr* mask CV_DEFAULT(0));
CV_EXPORTS double cvSumPixels( const CvArr* image );
CV_EXPORTS void  cvMean_StdDev( const CvArr* image, double* mean, double* sdv,
                                const CvArr* mask CV_DEFAULT(0));

CV_EXPORTS void cvmPerspectiveProject( const CvMat* mat, const CvArr* src, CvArr* dst );
CV_EXPORTS void cvFillImage( CvArr* mat, double color );

#define cvCvtPixToPlane cvSplit
#define cvCvtPlaneToPix cvMerge

typedef struct CvRandState
{
    CvRNG     state;    /* RNG state (the current seed and carry)*/
    int       disttype; /* distribution type */
    CvScalar  param[2]; /* parameters of RNG */
} CvRandState;

/* Changes RNG range while preserving RNG state */
CV_EXPORTS void  cvRandSetRange( CvRandState* state, double param1,
                                 double param2, int index CV_DEFAULT(-1));

CV_EXPORTS void  cvRandInit( CvRandState* state, double param1,
                             double param2, int seed,
                             int disttype CV_DEFAULT(CV_RAND_UNI));

/* Fills array with random numbers */
CV_EXPORTS void cvRand( CvRandState* state, CvArr* arr );

#define cvRandNext( _state ) cvRandInt( &(_state)->state )

CV_EXPORTS void cvbRand( CvRandState* state, float* dst, int len );

CV_EXPORTS void  cvbCartToPolar( const float* y, const float* x,
                                 float* magnitude, float* angle, int len );
CV_EXPORTS void  cvbFastArctan( const float* y, const float* x, float* angle, int len );
CV_EXPORTS void  cvbSqrt( const float* x, float* y, int len );
CV_EXPORTS void  cvbInvSqrt( const float* x, float* y, int len );
CV_EXPORTS void  cvbReciprocal( const float* x, float* y, int len );
CV_EXPORTS void  cvbFastExp( const float* x, double* y, int len );
CV_EXPORTS void  cvbFastLog( const double* x, float* y, int len );

CV_EXPORTS CvRect  cvContourBoundingRect( void* point_set, int update CV_DEFAULT(0));

CV_EXPORTS double cvPseudoInverse( const CvArr* src, CvArr* dst );
#define cvPseudoInv cvPseudoInverse

#define cvContourMoments( contour, moments ) cvMoments( contour, moments, 0 )

#define cvGetPtrAt              cvPtr2D
#define cvGetAt                 cvGet2D
#define cvSetAt(arr,val,y,x)    cvSet2D((arr),(y),(x),(val))

#define cvMeanMask  cvMean
#define cvMean_StdDevMask(img,mask,mean,sdv) cvMean_StdDev(img,mean,sdv,mask)

#define cvNormMask(imgA,imgB,mask,normType) cvNorm(imgA,imgB,normType,mask)

#define cvMinMaxLocMask(img, mask, min_val, max_val, min_loc, max_loc) \
        cvMinMaxLoc(img, min_val, max_val, min_loc, max_loc, mask)

#define cvRemoveMemoryManager  cvSetMemoryManager

#define cvmSetZero( mat )               cvSetZero( mat )
#define cvmSetIdentity( mat )           cvSetIdentity( mat )
#define cvmAdd( src1, src2, dst )       cvAdd( src1, src2, dst, 0 )
#define cvmSub( src1, src2, dst )       cvSub( src1, src2, dst, 0 )
#define cvmCopy( src, dst )             cvCopy( src, dst, 0 )
#define cvmMul( src1, src2, dst )       cvMatMulAdd( src1, src2, 0, dst )
#define cvmTranspose( src, dst )        cvT( src, dst )
#define cvmInvert( src, dst )           cvInv( src, dst )
#define cvmMahalanobis(vec1, vec2, mat) cvMahalanobis( vec1, vec2, mat )
#define cvmDotProduct( vec1, vec2 )     cvDotProduct( vec1, vec2 )
#define cvmCrossProduct(vec1, vec2,dst) cvCrossProduct( vec1, vec2, dst )
#define cvmTrace( mat )                 (cvTrace( mat )).val[0]
#define cvmMulTransposed( src, dst, order ) cvMulTransposed( src, dst, order )
#define cvmEigenVV( mat, evec, eval, eps)   cvEigenVV( mat, evec, eval, eps )
#define cvmDet( mat )                   cvDet( mat )
#define cvmScale( src, dst, scale )     cvScale( src, dst, scale )

#define cvCopyImage( src, dst )         cvCopy( src, dst, 0 )
#define cvReleaseMatHeader              cvReleaseMat

/* Calculates exact convex hull of 2d point set */
CV_EXPORTS void cvConvexHull( CvPoint* points, int num_points,
                             CvRect* bound_rect,
                             int orientation, int* hull, int* hullsize );


CV_EXPORTS void cvMinAreaRect( CvPoint* points, int n,
                              int left, int bottom,
                              int right, int top,
                              CvPoint2D32f* anchor,
                              CvPoint2D32f* vect1,
                              CvPoint2D32f* vect2 );

typedef int CvDisType;
typedef int CvChainApproxMethod;
typedef int CvContourRetrievalMode;

CV_EXPORTS  void  cvFitLine3D( CvPoint3D32f* points, int count, int dist,
                    void *param, float reps, float aeps, float* line );

/* Fits a line into set of 2d points in a robust way (M-estimator technique) */
CV_EXPORTS  void  cvFitLine2D( CvPoint2D32f* points, int count, int dist,
                    void *param, float reps, float aeps, float* line );

CV_EXPORTS  void  cvFitEllipse( const CvPoint2D32f* points, int count, CvBox2D* box );

/* Projects 2d points to one of standard coordinate planes
   (i.e. removes one of coordinates) */
CV_EXPORTS  void  cvProject3D( CvPoint3D32f* points3D, int count,
                              CvPoint2D32f* points2D,
                              int xIndx CV_DEFAULT(0),
                              int yIndx CV_DEFAULT(1));

/* Retrieves value of the particular bin
   of x-dimensional (x=1,2,3,...) histogram */
#define cvQueryHistValue_1D( hist, idx0 ) \
    ((float)cvGetReal1D( (hist)->bins, (idx0)))
#define cvQueryHistValue_2D( hist, idx0, idx1 ) \
    ((float)cvGetReal2D( (hist)->bins, (idx0), (idx1)))
#define cvQueryHistValue_3D( hist, idx0, idx1, idx2 ) \
    ((float)cvGetReal3D( (hist)->bins, (idx0), (idx1), (idx2)))
#define cvQueryHistValue_nD( hist, idx ) \
    ((float)cvGetRealND( (hist)->bins, (idx)))

/* Returns pointer to the particular bin of x-dimesional histogram.
   For sparse histogram the bin is created if it didn't exist before */
#define cvGetHistValue_1D( hist, idx0 ) \
    ((float*)cvPtr1D( (hist)->bins, (idx0), 0))
#define cvGetHistValue_2D( hist, idx0, idx1 ) \
    ((float*)cvPtr2D( (hist)->bins, (idx0), (idx1), 0))
#define cvGetHistValue_3D( hist, idx0, idx1, idx2 ) \
    ((float*)cvPtr3D( (hist)->bins, (idx0), (idx1), (idx2), 0))
#define cvGetHistValue_nD( hist, idx ) \
    ((float*)cvPtrND( (hist)->bins, (idx), 0))


#define CV_IS_SET_ELEM_EXISTS CV_IS_SET_ELEM


CV_EXPORTS  int  cvHoughLines( CvArr* image, double rho,
                              double theta, int threshold,
                              float* lines, int linesNumber );

CV_EXPORTS  int  cvHoughLinesP( CvArr* image, double rho,
                               double theta, int threshold,
                               int lineLength, int lineGap,
                               int* lines, int linesNumber );


CV_EXPORTS  int  cvHoughLinesSDiv( CvArr* image, double rho, int srn,
                                  double theta, int stn, int threshold,
                                  float* lines, int linesNumber );

CV_EXPORTS  float  cvCalcEMD( const float* signature1, int size1,
                             const float* signature2, int size2,
                             int dims, int dist_type CV_DEFAULT(CV_DIST_L2),
                             CvDistanceFunction dist_func CV_DEFAULT(0),
                             float* lower_bound CV_DEFAULT(0),
                             void* user_param CV_DEFAULT(0));

CV_EXPORTS  void  cvKMeans( int num_clusters, float** samples,
                           int num_samples, int vec_size,
                           CvTermCriteria termcrit, int* cluster_idx );

CV_EXPORTS void  cvStartScanGraph( CvGraph* graph, CvGraphScanner* scanner,
                                  CvGraphVtx* vtx CV_DEFAULT(NULL),
                                  int mask CV_DEFAULT(CV_GRAPH_ALL_ITEMS));

CV_EXPORTS  void  cvEndScanGraph( CvGraphScanner* scanner );


/* old drawing functions */
CV_EXPORTS void  cvLineAA( CvArr* img, CvPoint pt1, CvPoint pt2,
                            double color, int scale CV_DEFAULT(0));

CV_EXPORTS void  cvCircleAA( CvArr* img, CvPoint center, int radius,
                            double color, int scale CV_DEFAULT(0) );

CV_EXPORTS void  cvEllipseAA( CvArr* img, CvPoint center, CvSize axes,
                              double angle, double start_angle,
                              double end_angle, double color,
                              int scale CV_DEFAULT(0) );

CV_EXPORTS void  cvPolyLineAA( CvArr* img, CvPoint** pts, int* npts, int contours,
                              int is_closed, double color, int scale CV_DEFAULT(0) );

/****************************************************************************************\
*                                   Pixel Access Macros                                  *
\****************************************************************************************/

typedef struct _CvPixelPosition8u
{
    uchar*  currline;      /* pointer to the start of the current pixel line   */
    uchar*  topline;       /* pointer to the start of the top pixel line       */
    uchar*  bottomline;    /* pointer to the start of the first line           */
                                    /* which is below the image                         */
    int     x;                      /* current x coordinate ( in pixels )               */
    int     width;                  /* width of the image  ( in pixels )                */
    int     height;                 /* height of the image  ( in pixels )               */
    int     step;                   /* distance between lines ( in elements of single   */
                                    /* plane )                                          */
    int     step_arr[3];            /* array: ( 0, -step, step ). It is used for        */
                                    /* vertical moving                                  */
} CvPixelPosition8u;

/* this structure differs from the above only in data type */
typedef struct _CvPixelPosition8s
{
    schar*  currline;
    schar*  topline;
    schar*  bottomline;
    int     x;
    int     width;
    int     height;
    int     step;
    int     step_arr[3];
} CvPixelPosition8s;

/* this structure differs from the CvPixelPosition8u only in data type */
typedef struct _CvPixelPosition32f
{
    float*  currline;
    float*  topline;
    float*  bottomline;
    int     x;
    int     width;
    int     height;
    int     step;
    int     step_arr[3];
} CvPixelPosition32f;


/* Initialize one of the CvPixelPosition structures.   */
/*  pos    - initialized structure                     */
/*  origin - pointer to the left-top corner of the ROI */
/*  step   - width of the whole image in bytes         */
/*  roi    - width & height of the ROI                 */
/*  x, y   - initial position                          */
#define CV_INIT_PIXEL_POS(pos, origin, _step, roi, _x, _y, orientation)    \
    (                                                                        \
    (pos).step = (_step)/sizeof((pos).currline[0]) * (orientation ? -1 : 1), \
    (pos).width = (roi).width,                                               \
    (pos).height = (roi).height,                                             \
    (pos).bottomline = (origin) + (pos).step*(pos).height,                   \
    (pos).topline = (origin) - (pos).step,                                   \
    (pos).step_arr[0] = 0,                                                   \
    (pos).step_arr[1] = -(pos).step,                                         \
    (pos).step_arr[2] = (pos).step,                                          \
    (pos).x = (_x),                                                          \
    (pos).currline = (origin) + (pos).step*(_y) )


/* Move to specified point ( absolute shift ) */
/*  pos    - position structure               */
/*  x, y   - coordinates of the new position  */
/*  cs     - number of the image channels     */
#define CV_MOVE_TO( pos, _x, _y, cs )                                                   \
((pos).currline = (_y) >= 0 && (_y) < (pos).height ? (pos).topline + ((_y)+1)*(pos).step : 0, \
 (pos).x = (_x) >= 0 && (_x) < (pos).width ? (_x) : 0, (pos).currline + (_x) * (cs) )

/* Get current coordinates                    */
/*  pos    - position structure               */
/*  x, y   - coordinates of the new position  */
/*  cs     - number of the image channels     */
#define CV_GET_CURRENT( pos, cs )  ((pos).currline + (pos).x * (cs))

/* Move by one pixel relatively to current position */
/*  pos    - position structure                     */
/*  cs     - number of the image channels           */

/* left */
#define CV_MOVE_LEFT( pos, cs ) \
 ( --(pos).x >= 0 ? (pos).currline + (pos).x*(cs) : 0 )

/* right */
#define CV_MOVE_RIGHT( pos, cs ) \
 ( ++(pos).x < (pos).width ? (pos).currline + (pos).x*(cs) : 0 )

/* up */
#define CV_MOVE_UP( pos, cs ) \
 (((pos).currline -= (pos).step) != (pos).topline ? (pos).currline + (pos).x*(cs) : 0 )

/* down */
#define CV_MOVE_DOWN( pos, cs ) \
 (((pos).currline += (pos).step) != (pos).bottomline ? (pos).currline + (pos).x*(cs) : 0 )

/* left up */
#define CV_MOVE_LU( pos, cs ) ( CV_MOVE_LEFT(pos, cs), CV_MOVE_UP(pos, cs))

/* right up */
#define CV_MOVE_RU( pos, cs ) ( CV_MOVE_RIGHT(pos, cs), CV_MOVE_UP(pos, cs))

/* left down */
#define CV_MOVE_LD( pos, cs ) ( CV_MOVE_LEFT(pos, cs), CV_MOVE_DOWN(pos, cs))

/* right down */
#define CV_MOVE_RD( pos, cs ) ( CV_MOVE_RIGHT(pos, cs), CV_MOVE_DOWN(pos, cs))



/* Move by one pixel relatively to current position with wrapping when the position     */
/* achieves image boundary                                                              */
/*  pos    - position structure                                                         */
/*  cs     - number of the image channels                                               */

/* left */
#define CV_MOVE_LEFT_WRAP( pos, cs ) \
 ((pos).currline + ( --(pos).x >= 0 ? (pos).x : ((pos).x = (pos).width-1))*(cs))

/* right */
#define CV_MOVE_RIGHT_WRAP( pos, cs ) \
 ((pos).currline + ( ++(pos).x < (pos).width ? (pos).x : ((pos).x = 0))*(cs) )

/* up */
#define CV_MOVE_UP_WRAP( pos, cs ) \
    ((((pos).currline -= (pos).step) != (pos).topline ? \
    (pos).currline : ((pos).currline = (pos).bottomline - (pos).step)) + (pos).x*(cs) )

/* down */
#define CV_MOVE_DOWN_WRAP( pos, cs ) \
    ((((pos).currline += (pos).step) != (pos).bottomline ? \
    (pos).currline : ((pos).currline = (pos).topline + (pos).step)) + (pos).x*(cs) )

/* left up */
#define CV_MOVE_LU_WRAP( pos, cs ) ( CV_MOVE_LEFT_WRAP(pos, cs), CV_MOVE_UP_WRAP(pos, cs))
/* right up */
#define CV_MOVE_RU_WRAP( pos, cs ) ( CV_MOVE_RIGHT_WRAP(pos, cs), CV_MOVE_UP_WRAP(pos, cs))
/* left down */
#define CV_MOVE_LD_WRAP( pos, cs ) ( CV_MOVE_LEFT_WRAP(pos, cs), CV_MOVE_DOWN_WRAP(pos, cs))
/* right down */
#define CV_MOVE_RD_WRAP( pos, cs ) ( CV_MOVE_RIGHT_WRAP(pos, cs), CV_MOVE_DOWN_WRAP(pos, cs))

/* Numeric constants which used for moving in arbitrary direction  */
enum
{
    CV_SHIFT_NONE = 2,
    CV_SHIFT_LEFT = 1,
    CV_SHIFT_RIGHT = 3,
    CV_SHIFT_UP = 6,
    CV_SHIFT_DOWN = 10,
    CV_SHIFT_LU = 5,
    CV_SHIFT_RU = 7,
    CV_SHIFT_LD = 9,
    CV_SHIFT_RD = 11
};

/* Move by one pixel in specified direction                                     */
/*  pos    - position structure                                                 */
/*  shift  - direction ( it's value must be one of the CV_SHIFT_Ö constants ) */
/*  cs     - number of the image channels                                       */
#define CV_MOVE_PARAM( pos, shift, cs )                                             \
    ( (pos).currline += (pos).step_arr[(shift)>>2], (pos).x += ((shift)&3)-2,       \
    ((pos).currline != (pos).topline && (pos).currline != (pos).bottomline &&       \
    (pos).x >= 0 && (pos).x < (pos).width) ? (pos).currline + (pos).x*(cs) : 0 )

/* Move by one pixel in specified direction with wrapping when the               */
/* position achieves image boundary                                              */
/*  pos    - position structure                                                  */
/*  shift  - direction ( it's value must be one of the CV_SHIFT_Ö constants )  */
/*  cs     - number of the image channels                                        */
#define CV_MOVE_PARAM_WRAP( pos, shift, cs )                                        \
    ( (pos).currline += (pos).step_arr[(shift)>>2],                                 \
    (pos).currline = ((pos).currline == (pos).topline ?                             \
    (pos).bottomline - (pos).step :                                                 \
    (pos).currline == (pos).bottomline ?                                            \
    (pos).topline + (pos).step : (pos).currline),                                   \
                                                                                    \
    (pos).x += ((shift)&3)-2,                                                       \
    (pos).x = ((pos).x < 0 ? (pos).width-1 : (pos).x >= (pos).width ? 0 : (pos).x), \
                                                                                    \
    (pos).currline + (pos).x*(cs) )


typedef float*   CvVect32f;
typedef float*   CvMatr32f;
typedef double*  CvVect64d;
typedef double*  CvMatr64d;

CV_EXPORTS void cvUnDistortOnce( const CvArr* src, CvArr* dst,
                                const float* intrinsic_matrix,
                                const float* distortion_coeffs,
                                int interpolate );

/* the two functions below have quite hackerish implementations, use with care
   (or, which is better, switch to cvUndistortInitMap and cvRemap instead */
CV_EXPORTS void cvUnDistortInit( const CvArr* src,
                                CvArr* undistortion_map,
                                const float* A, const float* k,
                                int interpolate );

CV_EXPORTS void  cvUnDistort( const CvArr* src, CvArr* dst,
                             const CvArr* undistortion_map,
                             int interpolate );

/* Find fundamental matrix */
CV_EXPORTS void  cvFindFundamentalMatrix( int* points1, int* points2,
    int numpoints, int method, float* matrix );


CV_EXPORTS int cvFindChessBoardCornerGuesses( const void* arr, void* thresharr,
                               CvMemStorage* storage,
                               CvSize pattern_size, CvPoint2D32f * corners,
                               int *corner_count );

/* Calibrates camera using multiple views of calibration pattern */
CV_EXPORTS void cvCalibrateCamera( int image_count, int* _point_counts,
    CvSize image_size, CvPoint2D32f* _image_points, CvPoint3D32f* _object_points,
    float* _distortion_coeffs, float* _camera_matrix, float* _translation_vectors,
    float* _rotation_matrices, int flags );


CV_EXPORTS void cvCalibrateCamera_64d( int image_count, int* _point_counts,
    CvSize image_size, CvPoint2D64f* _image_points, CvPoint3D64f* _object_points,
    double* _distortion_coeffs, double* _camera_matrix, double* _translation_vectors,
    double* _rotation_matrices, int flags );


/* Find 3d position of object given intrinsic camera parameters,
   3d model of the object and projection of the object into view plane */
CV_EXPORTS void cvFindExtrinsicCameraParams( int point_count,
    CvSize image_size, CvPoint2D32f* _image_points,
    CvPoint3D32f* _object_points, float* focal_length,
    CvPoint2D32f principal_point, float* _distortion_coeffs,
    float* _rotation_vector, float* _translation_vector );

/* Variant of the previous function that takes double-precision parameters */
CV_EXPORTS void cvFindExtrinsicCameraParams_64d( int point_count,
    CvSize image_size, CvPoint2D64f* _image_points,
    CvPoint3D64f* _object_points, double* focal_length,
    CvPoint2D64f principal_point, double* _distortion_coeffs,
    double* _rotation_vector, double* _translation_vector );

/* Rodrigues transform */
enum
{
    CV_RODRIGUES_M2V = 0,
    CV_RODRIGUES_V2M = 1
};

/* Converts rotation_matrix matrix to rotation_matrix vector or vice versa */
CV_EXPORTS void  cvRodrigues( CvMat* rotation_matrix, CvMat* rotation_vector,
                              CvMat* jacobian, int conv_type );

/* Does reprojection of 3d object points to the view plane */
CV_EXPORTS void  cvProjectPoints( int point_count, CvPoint3D64f* _object_points,
    double* _rotation_vector, double*  _translation_vector,
    double* focal_length, CvPoint2D64f principal_point,
    double* _distortion, CvPoint2D64f* _image_points,
    double* _deriv_points_rotation_matrix,
    double* _deriv_points_translation_vect,
    double* _deriv_points_focal,
    double* _deriv_points_principal_point,
    double* _deriv_points_distortion_coeffs );


/* Simpler version of the previous function */
CV_EXPORTS void  cvProjectPointsSimple( int point_count, CvPoint3D64f* _object_points,
    double* _rotation_matrix, double*  _translation_vector,
    double* _camera_matrix, double* _distortion, CvPoint2D64f* _image_points );


#define cvMake2DPoints cvConvertPointsHomogeneous
#define cvMake3DPoints cvConvertPointsHomogeneous

#define cvWarpPerspectiveQMatrix cvGetPerspectiveTransform

#define cvConvertPointsHomogenious cvConvertPointsHomogeneous


//////////////////////////////////// feature extractors: obsolete API //////////////////////////////////

typedef struct CvSURFPoint
{
    CvPoint2D32f pt;

    int          laplacian;
    int          size;
    float        dir;
    float        hessian;

} CvSURFPoint;

CV_INLINE CvSURFPoint cvSURFPoint( CvPoint2D32f pt, int laplacian,
                                  int size, float dir CV_DEFAULT(0),
                                  float hessian CV_DEFAULT(0))
{
    CvSURFPoint kp;

    kp.pt        = pt;
    kp.laplacian = laplacian;
    kp.size      = size;
    kp.dir       = dir;
    kp.hessian   = hessian;

    return kp;
}

typedef struct CvSURFParams
{
    int    extended;
    int    upright;
    double hessianThreshold;

    int    nOctaves;
    int    nOctaveLayers;

} CvSURFParams;

CVAPI(CvSURFParams) cvSURFParams( double hessianThreshold, int extended CV_DEFAULT(0) );

// If useProvidedKeyPts!=0, keypoints are not detected, but descriptors are computed
//  at the locations provided in keypoints (a CvSeq of CvSURFPoint).
CVAPI(void) cvExtractSURF( const CvArr* img, const CvArr* mask,
                          CvSeq** keypoints, CvSeq** descriptors,
                          CvMemStorage* storage, CvSURFParams params,
                             int useProvidedKeyPts CV_DEFAULT(0)  );

/*!
 Maximal Stable Regions Parameters
 */
typedef struct CvMSERParams
{
    //! delta, in the code, it compares (size_{i}-size_{i-delta})/size_{i-delta}
    int delta;
    //! prune the area which bigger than maxArea
    int maxArea;
    //! prune the area which smaller than minArea
    int minArea;
    //! prune the area have simliar size to its children
    float maxVariation;
    //! trace back to cut off mser with diversity < min_diversity
    float minDiversity;

    /////// the next few params for MSER of color image

    //! for color image, the evolution steps
    int maxEvolution;
    //! the area threshold to cause re-initialize
    double areaThreshold;
    //! ignore too small margin
    double minMargin;
    //! the aperture size for edge blur
    int edgeBlurSize;
} CvMSERParams;

CVAPI(CvMSERParams) cvMSERParams( int delta CV_DEFAULT(5), int min_area CV_DEFAULT(60),
                                 int max_area CV_DEFAULT(14400), float max_variation CV_DEFAULT(.25f),
                                 float min_diversity CV_DEFAULT(.2f), int max_evolution CV_DEFAULT(200),
                                 double area_threshold CV_DEFAULT(1.01),
                                 double min_margin CV_DEFAULT(.003),
                                 int edge_blur_size CV_DEFAULT(5) );

// Extracts the contours of Maximally Stable Extremal Regions
CVAPI(void) cvExtractMSER( CvArr* _img, CvArr* _mask, CvSeq** contours, CvMemStorage* storage, CvMSERParams params );


typedef struct CvStarKeypoint
{
    CvPoint pt;
    int size;
    float response;
} CvStarKeypoint;

CV_INLINE CvStarKeypoint cvStarKeypoint(CvPoint pt, int size, float response)
{
    CvStarKeypoint kpt;
    kpt.pt = pt;
    kpt.size = size;
    kpt.response = response;
    return kpt;
}

typedef struct CvStarDetectorParams
{
    int maxSize;
    int responseThreshold;
    int lineThresholdProjected;
    int lineThresholdBinarized;
    int suppressNonmaxSize;
} CvStarDetectorParams;

CV_INLINE CvStarDetectorParams cvStarDetectorParams(
                                                    int maxSize CV_DEFAULT(45),
                                                    int responseThreshold CV_DEFAULT(30),
                                                    int lineThresholdProjected CV_DEFAULT(10),
                                                    int lineThresholdBinarized CV_DEFAULT(8),
                                                    int suppressNonmaxSize CV_DEFAULT(5))
{
    CvStarDetectorParams params;
    params.maxSize = maxSize;
    params.responseThreshold = responseThreshold;
    params.lineThresholdProjected = lineThresholdProjected;
    params.lineThresholdBinarized = lineThresholdBinarized;
    params.suppressNonmaxSize = suppressNonmaxSize;

    return params;
}

CVAPI(CvSeq*) cvGetStarKeypoints( const CvArr* img, CvMemStorage* storage,
                                 CvStarDetectorParams params CV_DEFAULT(cvStarDetectorParams()));

#ifdef __cplusplus
}
#endif

#endif