Debut Tests ASIFT + Essai VISP simplifié

ASIFT_tests/demo_ASIFT_src/orsa.h

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+//
+// C++ Implementation: stereomatch
+//
+// Description: eliminate the false matches with epipolar geometry constraint. 
+//		See http://www.math-info.univ-paris5.fr/~moisan/epipolar/
+//
+// Copyright (c) 2007 Lionel Moisan <Lionel.Moisan@parisdescartes.fr>
+// Changelog : 2011 Use Eigen SVD <Pierre Moulon>
+//
+// Copyright: See COPYING file that comes with this distribution
+//
+//
+
+#ifndef STEREOMATCH_H
+#define STEREOMATCH_H
+
+#include <vector>
+
+#include "libNumerics/numerics.h"
+#include "libMatch/match.h"
+#include <sstream>
+#include <iostream>
+#include <fstream>
+#include <cmath>
+
+#include <cstdio>
+#include <cmath>
+#include <cstdlib>
+
+/*-------------------- GENERAL PURPOSE ROUTINES --------------------*/
+
+/* routines for vectors and matrices */
+
+//float *vector(int nl, int nh);
+
+float **matrix(int nrl, int nrh, int ncl, int nch);
+
+void free_vector(float *v, int nl, int nh);
+
+void free_matrix(float **m, int nrl, int nrh, int ncl, int nch);
+
+/* Singular Value Decomposition routine */
+void svdcmp(float **a, int m, int n, float *w, float **v);
+
+/* Compute the real roots of a third order polynomial */
+/* returns 1 or 3, the number of roots found */
+int FindCubicRoots(float coeff[4], float x[3]);
+
+/* logarithm (base 10) of binomial coefficient */
+float logcombi(int k, int n);
+
+/* tabulate logcombi(.,n) */
+float *makelogcombi_n(int n);
+
+
+/* tabulate logcombi(k,.) */
+float *makelogcombi_k(int k, int nmax);
+
+
+/* get a (sorted) random 7-uple of 0..n-1 */
+void random_p7(int *k, int n);
+
+/*-------------------- END OF GENERAL PURPOSE ROUTINES --------------------*/
+
+
+/* float comparison for qsort() */
+//According to http://www.cplusplus.com/reference/clibrary/cstdlib/qsort/, 
+//we should have: void qsort ( void * base, size_t num, size_t size, int ( * comparator ) ( const void *, const void * ) ); that means, for "qsort", the "comparator" has two constant void* type input parameters
+int compf(const void *i, const void *j);
+
+void matcherrorn(float **F, const std::vector<float>& p1, const std::vector<float>& p2, float *e);
+
+int epipolar(std::vector<float>& m1, std::vector<float>& m2, int *k, float *z, float **F1, float **F2);
+
+float orsa(int width, int height, std::vector<Match>& match, std::vector<float>& index, int t_value, int verb_value, int n_flag_value, int mode_value, int stop_value);
+
+#endif