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Set stricter warning rules for gcc

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This commit is contained in:
Andrey Kamaev
2012-06-07 17:21:29 +00:00
parent 0395f7c63f
commit 49a1ba6038
241 changed files with 9054 additions and 8947 deletions
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782
modules/contrib/src/ba.cpp
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File diff suppressed because it is too large Load Diff

1
modules/contrib/src/chamfermatching.cpp
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@@ -81,6 +81,7 @@ private:
{
public:
virtual ImageIterator* iterator() const = 0;
virtual ~ImageRange() {}
};
// Sliding window

20
modules/contrib/src/colormap.cpp
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@@ -59,8 +59,8 @@ static Mat sortMatrixRowsByIndices(InputArray src, InputArray indices)
return dst;
}
Mat argsort(InputArray _src, bool ascending=true)
static Mat argsort(InputArray _src, bool ascending=true)
{
Mat src = _src.getMat();
if (src.rows != 1 && src.cols != 1)
@@ -70,14 +70,14 @@ Mat argsort(InputArray _src, bool ascending=true)
sortIdx(src.reshape(1,1),sorted_indices,flags);
return sorted_indices;
}
template <typename _Tp> static
Mat interp1_(const Mat& X_, const Mat& Y_, const Mat& XI)
{
int n = XI.rows;
// sort input table
vector<int> sort_indices = argsort(X_);
Mat X = sortMatrixRowsByIndices(X_,sort_indices);
Mat Y = sortMatrixRowsByIndices(Y_,sort_indices);
// interpolated values
@@ -131,7 +131,7 @@ static Mat interp1(InputArray _x, InputArray _Y, InputArray _xi)
}
return Mat();
}
namespace colormap
{
@@ -531,7 +531,7 @@ namespace colormap
n); // number of sample points
}
};
void ColorMap::operator()(InputArray _src, OutputArray _dst) const
{
if(_lut.total() != 256)
@@ -550,7 +550,7 @@ namespace colormap
// Apply the ColorMap.
LUT(src, _lut, _dst);
}
Mat ColorMap::linear_colormap(InputArray X,
InputArray r, InputArray g, InputArray b,
InputArray xi) {
@@ -581,12 +581,12 @@ namespace colormap
colormap == COLORMAP_HOT ? (colormap::ColorMap*)(new colormap::Hot) :
colormap == COLORMAP_MKPJ1 ? (colormap::ColorMap*)(new colormap::MKPJ1) :
colormap == COLORMAP_MKPJ2 ? (colormap::ColorMap*)(new colormap::MKPJ2) : 0;
if( !cm )
CV_Error( CV_StsBadArg, "Unknown colormap id; use one of COLORMAP_*");
(*cm)(src, dst);
delete cm;
}
}

26
modules/contrib/src/detection_based_tracker.cpp
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@@ -3,7 +3,7 @@
#define DEBUGLOGS 1
#if ANDROID
#ifdef ANDROID
#include <android/log.h>
#define LOG_TAG "OBJECT_DETECTOR"
#define LOGD0(...) ((void)__android_log_print(ANDROID_LOG_DEBUG, LOG_TAG, __VA_ARGS__))
@@ -25,7 +25,7 @@
#define LOGI(_str, ...) LOGI0(_str , ## __VA_ARGS__)
#define LOGW(_str, ...) LOGW0(_str , ## __VA_ARGS__)
#define LOGE(_str, ...) LOGE0(_str , ## __VA_ARGS__)
#else
#else
#define LOGD(...) do{} while(0)
#define LOGI(...) do{} while(0)
#define LOGW(...) do{} while(0)
@@ -193,7 +193,7 @@ do {
} catch(...) { \
LOGE0("\n ERROR: UNKNOWN Exception caught\n\n"); \
} \
} while(0)
} while(0)
#endif
void* workcycleObjectDetectorFunction(void* p)
@@ -214,7 +214,7 @@ void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
vector<Rect> objects;
CV_Assert(stateThread==STATE_THREAD_WORKING_SLEEPING);
pthread_mutex_lock(&mutex);
pthread_mutex_lock(&mutex);
{
pthread_cond_signal(&objectDetectorThreadStartStop);
@@ -268,7 +268,7 @@ void DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector()
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- imageSeparateDetecting is empty, continue");
continue;
}
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- start handling imageSeparateDetecting, img.size=%dx%d, img.data=0x%p",
LOGD("DetectionBasedTracker::SeparateDetectionWork::workcycleObjectDetector() --- start handling imageSeparateDetecting, img.size=%dx%d, img.data=0x%p",
imageSeparateDetecting.size().width, imageSeparateDetecting.size().height, (void*)imageSeparateDetecting.data);
@@ -368,7 +368,7 @@ void DetectionBasedTracker::SeparateDetectionWork::resetTracking()
pthread_mutex_unlock(&mutex);
}
bool DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread(const Mat& imageGray, vector<Rect>& rectsWhereRegions)
@@ -398,7 +398,7 @@ bool DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThrea
if (timeWhenDetectingThreadStartedWork > 0) {
double time_from_previous_launch_in_ms=1000.0 * (((double)(getTickCount() - timeWhenDetectingThreadStartedWork )) / freq); //the same formula as for lastBigDetectionDuration
shouldSendNewDataToWorkThread = (time_from_previous_launch_in_ms >= detectionBasedTracker.parameters.minDetectionPeriod);
LOGD("DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread: shouldSendNewDataToWorkThread was 1, now it is %d, since time_from_previous_launch_in_ms=%.2f, minDetectionPeriod=%d",
LOGD("DetectionBasedTracker::SeparateDetectionWork::communicateWithDetectingThread: shouldSendNewDataToWorkThread was 1, now it is %d, since time_from_previous_launch_in_ms=%.2f, minDetectionPeriod=%d",
(shouldSendNewDataToWorkThread?1:0), time_from_previous_launch_in_ms, detectionBasedTracker.parameters.minDetectionPeriod);
}
@@ -454,7 +454,7 @@ DetectionBasedTracker::DetectionBasedTracker(const std::string& cascadeFilename,
&& (params.scaleFactor > 1.0)
&& (params.maxTrackLifetime >= 0) );
if (!cascadeForTracking.load(cascadeFilename)) {
if (!cascadeForTracking.load(cascadeFilename)) {
CV_Error(CV_StsBadArg, "DetectionBasedTracker::DetectionBasedTracker: Cannot load a cascade from the file '"+cascadeFilename+"'");
}
@@ -495,7 +495,7 @@ void DetectionBasedTracker::process(const Mat& imageGray)
Mat imageDetect=imageGray;
int D=parameters.minObjectSize;
if (D < 1)
if (D < 1)
D=1;
vector<Rect> rectsWhereRegions;
@@ -633,7 +633,7 @@ void DetectionBasedTracker::updateTrackedObjects(const vector<Rect>& detectedObj
LOGD("DetectionBasedTracker::updateTrackedObjects: j=%d is rejected, because it is intersected with another rectangle", j);
continue;
}
LOGD("DetectionBasedTracker::updateTrackedObjects: detectedObjects[%d]={%d, %d, %d x %d}",
LOGD("DetectionBasedTracker::updateTrackedObjects: detectedObjects[%d]={%d, %d, %d x %d}",
j, detectedObjects[j].x, detectedObjects[j].y, detectedObjects[j].width, detectedObjects[j].height);
Rect r=prevRect & detectedObjects[j];
@@ -691,9 +691,9 @@ void DetectionBasedTracker::updateTrackedObjects(const vector<Rect>& detectedObj
std::vector<TrackedObject>::iterator it=trackedObjects.begin();
while( it != trackedObjects.end() ) {
if ( (it->numFramesNotDetected > parameters.maxTrackLifetime)
if ( (it->numFramesNotDetected > parameters.maxTrackLifetime)
||
(
(
(it->numDetectedFrames <= innerParameters.numStepsToWaitBeforeFirstShow)
&&
(it->numFramesNotDetected > innerParameters.numStepsToTrackWithoutDetectingIfObjectHasNotBeenShown)
@@ -718,7 +718,7 @@ Rect DetectionBasedTracker::calcTrackedObjectPositionToShow(int i) const
return Rect();
}
if (trackedObjects[i].numDetectedFrames <= innerParameters.numStepsToWaitBeforeFirstShow){
LOGI("DetectionBasedTracker::calcTrackedObjectPositionToShow: trackedObjects[%d].numDetectedFrames=%d <= numStepsToWaitBeforeFirstShow=%d --- return empty Rect()",
LOGI("DetectionBasedTracker::calcTrackedObjectPositionToShow: trackedObjects[%d].numDetectedFrames=%d <= numStepsToWaitBeforeFirstShow=%d --- return empty Rect()",
i, trackedObjects[i].numDetectedFrames, innerParameters.numStepsToWaitBeforeFirstShow);
return Rect();
}

2
modules/contrib/src/gencolors.cpp
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@@ -46,7 +46,7 @@
using namespace cv;
void downsamplePoints( const Mat& src, Mat& dst, size_t count )
static void downsamplePoints( const Mat& src, Mat& dst, size_t count )
{
CV_Assert( count >= 2 );
CV_Assert( src.cols == 1 || src.rows == 1 );

204
modules/contrib/src/lda.cpp
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@@ -28,7 +28,7 @@ using std::map;
using std::set;
using std::cout;
using std::endl;
// Removes duplicate elements in a given vector.
template<typename _Tp>
inline vector<_Tp> remove_dups(const vector<_Tp>& src) {
@@ -42,7 +42,7 @@ inline vector<_Tp> remove_dups(const vector<_Tp>& src) {
elems.push_back(*it);
return elems;
}
static Mat argsort(InputArray _src, bool ascending=true)
{
Mat src = _src.getMat();
@@ -72,8 +72,8 @@ static Mat asRowMatrix(InputArrayOfArrays src, int rtype, double alpha=1, double
}
return data;
}
void sortMatrixColumnsByIndices(InputArray _src, InputArray _indices, OutputArray _dst) {
static void sortMatrixColumnsByIndices(InputArray _src, InputArray _indices, OutputArray _dst) {
if(_indices.getMat().type() != CV_32SC1)
CV_Error(CV_StsUnsupportedFormat, "cv::sortColumnsByIndices only works on integer indices!");
Mat src = _src.getMat();
@@ -87,13 +87,13 @@ void sortMatrixColumnsByIndices(InputArray _src, InputArray _indices, OutputArra
}
}
Mat sortMatrixColumnsByIndices(InputArray src, InputArray indices) {
static Mat sortMatrixColumnsByIndices(InputArray src, InputArray indices) {
Mat dst;
sortMatrixColumnsByIndices(src, indices, dst);
return dst;
}
template<typename _Tp> static bool
isSymmetric_(InputArray src) {
Mat _src = src.getMat();
@@ -151,7 +151,7 @@ static bool isSymmetric(InputArray src, double eps=1e-16)
return false;
}
//------------------------------------------------------------------------------
// subspace::project
//------------------------------------------------------------------------------
@@ -198,32 +198,32 @@ Mat subspaceReconstruct(InputArray _W, InputArray _mean, InputArray _src)
return X;
}
class EigenvalueDecomposition {
private:
// Holds the data dimension.
int n;
// Stores real/imag part of a complex division.
double cdivr, cdivi;
// Pointer to internal memory.
double *d, *e, *ort;
double **V, **H;
// Holds the computed eigenvalues.
Mat _eigenvalues;
// Holds the computed eigenvectors.
Mat _eigenvectors;
// Allocates memory.
template<typename _Tp>
_Tp *alloc_1d(int m) {
return new _Tp[m];
}
// Allocates memory.
template<typename _Tp>
_Tp *alloc_1d(int m, _Tp val) {
@@ -232,7 +232,7 @@ private:
arr[i] = val;
return arr;
}
// Allocates memory.
template<typename _Tp>
_Tp **alloc_2d(int m, int n) {
@@ -241,7 +241,7 @@ private:
arr[i] = new _Tp[n];
return arr;
}
// Allocates memory.
template<typename _Tp>
_Tp **alloc_2d(int m, int n, _Tp val) {
@@ -253,7 +253,7 @@ private:
}
return arr;
}
void cdiv(double xr, double xi, double yr, double yi) {
double r, d;
if (std::abs(yr) > std::abs(yi)) {
@@ -268,16 +268,16 @@ private:
cdivi = (r * xi - xr) / d;
}
}
// Nonsymmetric reduction from Hessenberg to real Schur form.
void hqr2() {
// This is derived from the Algol procedure hqr2,
// by Martin and Wilkinson, Handbook for Auto. Comp.,
// Vol.ii-Linear Algebra, and the corresponding
// Fortran subroutine in EISPACK.
// Initialize
int nn = this->n;
int n = nn - 1;
@@ -286,9 +286,9 @@ private:
double eps = pow(2.0, -52.0);
double exshift = 0.0;
double p = 0, q = 0, r = 0, s = 0, z = 0, t, w, x, y;
// Store roots isolated by balanc and compute matrix norm
double norm = 0.0;
for (int i = 0; i < nn; i++) {
if (i < low || i > high) {
@@ -299,11 +299,11 @@ private:
norm = norm + std::abs(H[i][j]);
}
}
// Outer loop over eigenvalue index
int iter = 0;
while (n >= low) {
// Look for single small sub-diagonal element
int l = n;
while (l > low) {
@@ -316,19 +316,19 @@ private:
}
l--;
}
// Check for convergence
// One root found
if (l == n) {
H[n][n] = H[n][n] + exshift;
d[n] = H[n][n];
e[n] = 0.0;
n--;
iter = 0;
// Two roots found
} else if (l == n - 1) {
w = H[n][n - 1] * H[n - 1][n];
p = (H[n - 1][n - 1] - H[n][n]) / 2.0;
@@ -337,9 +337,9 @@ private:
H[n][n] = H[n][n] + exshift;
H[n - 1][n - 1] = H[n - 1][n - 1] + exshift;
x = H[n][n];
// Real pair
if (q >= 0) {
if (p >= 0) {
z = p + z;
@@ -360,33 +360,33 @@ private:
r = sqrt(p * p + q * q);
p = p / r;
q = q / r;
// Row modification
for (int j = n - 1; j < nn; j++) {
z = H[n - 1][j];
H[n - 1][j] = q * z + p * H[n][j];
H[n][j] = q * H[n][j] - p * z;
}
// Column modification
for (int i = 0; i <= n; i++) {
z = H[i][n - 1];
H[i][n - 1] = q * z + p * H[i][n];
H[i][n] = q * H[i][n] - p * z;
}
// Accumulate transformations
for (int i = low; i <= high; i++) {
z = V[i][n - 1];
V[i][n - 1] = q * z + p * V[i][n];
V[i][n] = q * V[i][n] - p * z;
}
// Complex pair
} else {
d[n - 1] = x + p;
d[n] = x + p;
@@ -395,13 +395,13 @@ private:
}
n = n - 2;
iter = 0;
// No convergence yet
} else {
// Form shift
x = H[n][n];
y = 0.0;
w = 0.0;
@@ -409,9 +409,9 @@ private:
y = H[n - 1][n - 1];
w = H[n][n - 1] * H[n - 1][n];
}
// Wilkinson's original ad hoc shift
if (iter == 10) {
exshift += x;
for (int i = low; i <= n; i++) {
@@ -421,9 +421,9 @@ private:
x = y = 0.75 * s;
w = -0.4375 * s * s;
}
// MATLAB's new ad hoc shift
if (iter == 30) {
s = (y - x) / 2.0;
s = s * s + w;
@@ -440,9 +440,9 @@ private:
x = y = w = 0.964;
}
}
iter = iter + 1; // (Could check iteration count here.)
// Look for two consecutive small sub-diagonal elements
int m = n - 2;
while (m >= l) {
@@ -466,16 +466,16 @@ private:
}
m--;
}
for (int i = m + 2; i <= n; i++) {
H[i][i - 2] = 0.0;
if (i > m + 2) {
H[i][i - 3] = 0.0;
}
}
// Double QR step involving rows l:n and columns m:n
for (int k = m; k <= n - 1; k++) {
bool notlast = (k != n - 1);
if (k != m) {
@@ -508,9 +508,9 @@ private:
z = r / s;
q = q / p;
r = r / p;
// Row modification
for (int j = k; j < nn; j++) {
p = H[k][j] + q * H[k + 1][j];
if (notlast) {
@@ -520,9 +520,9 @@ private:
H[k][j] = H[k][j] - p * x;
H[k + 1][j] = H[k + 1][j] - p * y;
}
// Column modification
for (int i = 0; i <= min(n, k + 3); i++) {
p = x * H[i][k] + y * H[i][k + 1];
if (notlast) {
@@ -532,9 +532,9 @@ private:
H[i][k] = H[i][k] - p;
H[i][k + 1] = H[i][k + 1] - p * q;
}
// Accumulate transformations
for (int i = low; i <= high; i++) {
p = x * V[i][k] + y * V[i][k + 1];
if (notlast) {
@@ -548,19 +548,19 @@ private:
} // k loop
} // check convergence
} // while (n >= low)
// Backsubstitute to find vectors of upper triangular form
if (norm == 0.0) {
return;
}
for (n = nn - 1; n >= 0; n--) {
p = d[n];
q = e[n];
// Real vector
if (q == 0) {
int l = n;
H[n][n] = 1.0;
@@ -581,9 +581,9 @@ private:
} else {
H[i][n] = -r / (eps * norm);
}
// Solve real equations
} else {
x = H[i][i + 1];
y = H[i + 1][i];
@@ -596,9 +596,9 @@ private:
H[i + 1][n] = (-s - y * t) / z;
}
}
// Overflow control
t = std::abs(H[i][n]);
if ((eps * t) * t > 1) {
for (int j = i; j <= n; j++) {
@@ -607,14 +607,14 @@ private:
}
}
}
// Complex vector
} else if (q < 0) {
int l = n - 1;
// Last vector component imaginary so matrix is triangular
if (std::abs(H[n][n - 1]) > std::abs(H[n - 1][n])) {
H[n - 1][n - 1] = q / H[n][n - 1];
H[n - 1][n] = -(H[n][n] - p) / H[n][n - 1];
@@ -634,7 +634,7 @@ private:
sa = sa + H[i][j] * H[j][n];
}
w = H[i][i] - p;
if (e[i] < 0.0) {
z = w;
r = ra;
@@ -646,9 +646,9 @@ private:
H[i][n - 1] = cdivr;
H[i][n] = cdivi;
} else {
// Solve complex equations
x = H[i][i + 1];
y = H[i + 1][i];
vr = (d[i] - p) * (d[i] - p) + e[i] * e[i] - q * q;
@@ -673,9 +673,9 @@ private:
H[i + 1][n] = cdivi;
}
}
// Overflow control
t = max(std::abs(H[i][n - 1]), std::abs(H[i][n]));
if ((eps * t) * t > 1) {
for (int j = i; j <= n; j++) {
@@ -687,9 +687,9 @@ private:
}
}
}
// Vectors of isolated roots
for (int i = 0; i < nn; i++) {
if (i < low || i > high) {
for (int j = i; j < nn; j++) {
@@ -697,9 +697,9 @@ private:
}
}
}
// Back transformation to get eigenvectors of original matrix
for (int j = nn - 1; j >= low; j--) {
for (int i = low; i <= high; i++) {
z = 0.0;
@@ -710,7 +710,7 @@ private:
}
}
}
// Nonsymmetric reduction to Hessenberg form.
void orthes() {
// This is derived from the Algol procedures orthes and ortran,
@@ -719,19 +719,19 @@ private:
// Fortran subroutines in EISPACK.
int low = 0;
int high = n - 1;
for (int m = low + 1; m <= high - 1; m++) {
// Scale column.
double scale = 0.0;
for (int i = m; i <= high; i++) {
scale = scale + std::abs(H[i][m - 1]);
}
if (scale != 0.0) {
// Compute Householder transformation.
double h = 0.0;
for (int i = high; i >= m; i--) {
ort[i] = H[i][m - 1] / scale;
@@ -743,10 +743,10 @@ private:
}
h = h - ort[m] * g;
ort[m] = ort[m] - g;
// Apply Householder similarity transformation
// H = (I-u*u'/h)*H*(I-u*u')/h)
for (int j = m; j < n; j++) {
double f = 0.0;
for (int i = high; i >= m; i--) {
@@ -757,7 +757,7 @@ private:
H[i][j] -= f * ort[i];
}
}
for (int i = 0; i <= high; i++) {
double f = 0.0;
for (int j = high; j >= m; j--) {
@@ -772,15 +772,15 @@ private:
H[m][m - 1] = scale * g;
}
}
// Accumulate transformations (Algol's ortran).
for (int i = 0; i < n; i++) {
for (int j = 0; j < n; j++) {
V[i][j] = (i == j ? 1.0 : 0.0);
}
}
for (int m = high - 1; m >= low + 1; m--) {
if (H[m][m - 1] != 0.0) {
for (int i = m + 1; i <= high; i++) {
@@ -800,7 +800,7 @@ private:
}
}
}
// Releases all internal working memory.
void release() {
// releases the working data
@@ -814,7 +814,7 @@ private:
delete[] H;
delete[] V;
}
// Computes the Eigenvalue Decomposition for a matrix given in H.
void compute() {
// Allocate memory for the working data.
@@ -839,11 +839,11 @@ private:
// Deallocate the memory by releasing all internal working data.
release();
}
public:
EigenvalueDecomposition()
: n(0) { }
// Initializes & computes the Eigenvalue Decomposition for a general matrix
// given in src. This function is a port of the EigenvalueSolver in JAMA,
// which has been released to public domain by The MathWorks and the
@@ -851,7 +851,7 @@ public:
EigenvalueDecomposition(InputArray src) {
compute(src);
}
// This function computes the Eigenvalue Decomposition for a general matrix
// given in src. This function is a port of the EigenvalueSolver in JAMA,
// which has been released to public domain by The MathWorks and the
@@ -883,9 +883,9 @@ public:
compute();
}
}
~EigenvalueDecomposition() {}
// Returns the eigenvalues of the Eigenvalue Decomposition.
Mat eigenvalues() { return _eigenvalues; }
// Returns the eigenvectors of the Eigenvalue Decomposition.
@@ -1045,6 +1045,6 @@ Mat LDA::project(InputArray src) {
Mat LDA::reconstruct(InputArray src) {
return subspaceReconstruct(_eigenvectors, Mat(), _dataAsRow ? src : src.getMat().t());
}
}

150
modules/contrib/src/octree.cpp
View File

@@ -43,98 +43,99 @@
#include "precomp.hpp"
#include <limits>
namespace cv
namespace
{
using namespace cv;
const size_t MAX_STACK_SIZE = 255;
const size_t MAX_LEAFS = 8;
bool checkIfNodeOutsideSphere(const Octree::Node& node, const Point3f& c, float r)
{
if (node.x_max < (c.x - r) || node.y_max < (c.y - r) || node.z_max < (c.z - r))
return true;
if ((c.x + r) < node.x_min || (c.y + r) < node.y_min || (c.z + r) < node.z_min)
return true;
return false;
}
bool checkIfNodeInsideSphere(const Octree::Node& node, const Point3f& c, float r)
{
r *= r;
float d2_xmin = (node.x_min - c.x) * (node.x_min - c.x);
float d2_ymin = (node.y_min - c.y) * (node.y_min - c.y);
float d2_zmin = (node.z_min - c.z) * (node.z_min - c.z);
if (d2_xmin + d2_ymin + d2_zmin > r)
return false;
float d2_zmax = (node.z_max - c.z) * (node.z_max - c.z);
if (d2_xmin + d2_ymin + d2_zmax > r)
return false;
float d2_ymax = (node.y_max - c.y) * (node.y_max - c.y);
if (d2_xmin + d2_ymax + d2_zmin > r)
return false;
if (d2_xmin + d2_ymax + d2_zmax > r)
return false;
float d2_xmax = (node.x_max - c.x) * (node.x_max - c.x);
if (d2_xmax + d2_ymin + d2_zmin > r)
return false;
if (d2_xmax + d2_ymin + d2_zmax > r)
return false;
if (d2_xmax + d2_ymax + d2_zmin > r)
return false;
if (d2_xmax + d2_ymax + d2_zmax > r)
return false;
return true;
}
void fillMinMax(const vector<Point3f>& points, Octree::Node& node)
{
node.x_max = node.y_max = node.z_max = std::numeric_limits<float>::min();
node.x_min = node.y_min = node.z_min = std::numeric_limits<float>::max();
for (size_t i = 0; i < points.size(); ++i)
{
const Point3f& point = points[i];
if (node.x_max < point.x)
node.x_max = point.x;
if (node.y_max < point.y)
node.y_max = point.y;
if (node.z_max < point.z)
node.z_max = point.z;
if (node.x_min > point.x)
node.x_min = point.x;
if (node.y_min > point.y)
node.y_min = point.y;
if (node.z_min > point.z)
node.z_min = point.z;
}
}
size_t findSubboxForPoint(const Point3f& point, const Octree::Node& node)
{
size_t ind_x = point.x < (node.x_max + node.x_min) / 2 ? 0 : 1;
size_t ind_y = point.y < (node.y_max + node.y_min) / 2 ? 0 : 1;
size_t ind_z = point.z < (node.z_max + node.z_min) / 2 ? 0 : 1;
return (ind_x << 2) + (ind_y << 1) + (ind_z << 0);
}
void initChildBox(const Octree::Node& parent, size_t boxIndex, Octree::Node& child)
@@ -142,58 +143,61 @@ namespace cv
child.x_min = child.x_max = (parent.x_max + parent.x_min) / 2;
child.y_min = child.y_max = (parent.y_max + parent.y_min) / 2;
child.z_min = child.z_max = (parent.z_max + parent.z_min) / 2;
if ((boxIndex >> 0) & 1)
child.z_max = parent.z_max;
else
child.z_min = parent.z_min;
if ((boxIndex >> 1) & 1)
child.y_max = parent.y_max;
else
child.y_min = parent.y_min;
if ((boxIndex >> 2) & 1)
child.x_max = parent.x_max;
else
child.x_min = parent.x_min;
}
}//namespace
////////////////////////////////////////////////////////////////////////////////////////
/////////////////////////// Octree //////////////////////////////////////
////////////////////////////////////////////////////////////////////////////////////////
namespace cv
{
Octree::Octree()
{
}
Octree::Octree(const vector<Point3f>& points3d, int maxLevels, int minPoints)
{
buildTree(points3d, maxLevels, minPoints);
}
Octree::~Octree()
{
}
void Octree::getPointsWithinSphere(const Point3f& center, float radius, vector<Point3f>& out) const
{
out.clear();
if (nodes.empty())
return;
int stack[MAX_STACK_SIZE];
int pos = 0;
stack[pos] = 0;
while (pos >= 0)
{
const Node& cur = nodes[stack[pos--]];
if (checkIfNodeOutsideSphere(cur, center, radius))
continue;
if (checkIfNodeInsideSphere(cur, center, radius))
{
size_t sz = out.size();
@@ -202,133 +206,133 @@ namespace cv
out[sz++] = points[i];
continue;
}
if (cur.isLeaf)
{
double r2 = radius * radius;
size_t sz = out.size();
out.resize(sz + (cur.end - cur.begin));
for (int i = cur.begin; i < cur.end; ++i)
{
const Point3f& point = points[i];
double dx = (point.x - center.x);
double dy = (point.y - center.y);
double dz = (point.z - center.z);
double dist2 = dx * dx + dy * dy + dz * dz;
if (dist2 < r2)
out[sz++] = point;
};
out.resize(sz);
continue;
}
if (cur.children[0])
stack[++pos] = cur.children[0];
if (cur.children[1])
stack[++pos] = cur.children[1];
if (cur.children[2])
stack[++pos] = cur.children[2];
if (cur.children[3])
stack[++pos] = cur.children[3];
if (cur.children[4])
stack[++pos] = cur.children[4];
if (cur.children[5])
stack[++pos] = cur.children[5];
if (cur.children[6])
stack[++pos] = cur.children[6];
if (cur.children[7])
stack[++pos] = cur.children[7];
}
}
void Octree::buildTree(const vector<Point3f>& points3d, int maxLevels, int minPoints)
{
assert((size_t)maxLevels * 8 < MAX_STACK_SIZE);
points.resize(points3d.size());
std::copy(points3d.begin(), points3d.end(), points.begin());
this->minPoints = minPoints;
nodes.clear();
nodes.push_back(Node());
Node& root = nodes[0];
fillMinMax(points, root);
root.isLeaf = true;
root.maxLevels = maxLevels;
root.begin = 0;
root.end = (int)points.size();
for (size_t i = 0; i < MAX_LEAFS; i++)
root.children[i] = 0;
if (maxLevels != 1 && (root.end - root.begin) > minPoints)
{
root.isLeaf = false;
buildNext(0);
}
}
void Octree::buildNext(size_t nodeInd)
{
size_t size = nodes[nodeInd].end - nodes[nodeInd].begin;
vector<size_t> boxBorders(MAX_LEAFS+1, 0);
vector<size_t> boxIndices(size);
vector<Point3f> tempPoints(size);
for (int i = nodes[nodeInd].begin, j = 0; i < nodes[nodeInd].end; ++i, ++j)
{
const Point3f& p = points[i];
size_t subboxInd = findSubboxForPoint(p, nodes[nodeInd]);
boxBorders[subboxInd+1]++;
boxIndices[j] = subboxInd;
tempPoints[j] = p;
}
for (size_t i = 1; i < boxBorders.size(); ++i)
boxBorders[i] += boxBorders[i-1];
vector<size_t> writeInds(boxBorders.begin(), boxBorders.end());
for (size_t i = 0; i < size; ++i)
{
size_t boxIndex = boxIndices[i];
Point3f& curPoint = tempPoints[i];
size_t copyTo = nodes[nodeInd].begin + writeInds[boxIndex]++;
points[copyTo] = curPoint;
}
for (size_t i = 0; i < MAX_LEAFS; ++i)
{
if (boxBorders[i] == boxBorders[i+1])
continue;
nodes.push_back(Node());
Node& child = nodes.back();
initChildBox(nodes[nodeInd], i, child);
child.isLeaf = true;
child.maxLevels = nodes[nodeInd].maxLevels - 1;
child.begin = nodes[nodeInd].begin + (int)boxBorders[i+0];
child.end = nodes[nodeInd].begin + (int)boxBorders[i+1];
for (size_t k = 0; k < MAX_LEAFS; k++)
child.children[k] = 0;
nodes[nodeInd].children[i] = (int)(nodes.size() - 1);
if (child.maxLevels != 1 && (child.end - child.begin) > minPoints)
{
child.isLeaf = false;
@@ -336,5 +340,5 @@ namespace cv
}
}
}
}

4
modules/contrib/src/precomp.hpp
View File

@@ -43,11 +43,11 @@
#ifndef __OPENCV_PRECOMP_H__
#define __OPENCV_PRECOMP_H__
#if _MSC_VER >= 1200
#if defined _MSC_VER && _MSC_VER >= 1200
#pragma warning( disable: 4251 4710 4711 4514 4996 )
#endif
#ifdef HAVE_CVCONFIG_H
#ifdef HAVE_CVCONFIG_H
#include "cvconfig.h"
#endif