solvepnp.h

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#ifndef RTABMAP_CORELIB_SRC_OPENCV_SOLVEPNP_H_
#define RTABMAP_CORELIB_SRC_OPENCV_SOLVEPNP_H_

#include <opencv2/core/core.hpp>
#include <opencv2/calib3d/calib3d.hpp>

namespace cv3 {




bool solvePnPRansac( cv::InputArray objectPoints, cv::InputArray imagePoints,
                                        cv::InputArray cameraMatrix, cv::InputArray distCoeffs,
                                        cv::OutputArray rvec, cv::OutputArray tvec,
                                        bool useExtrinsicGuess = false, int iterationsCount = 100,
                                        float reprojectionError = 8.0, double confidence = 0.99,
                                        cv::OutputArray inliers = cv::noArray(), int flags = CV_ITERATIVE );

int RANSACUpdateNumIters( double p, double ep, int modelPoints, int maxIters );

class LMSolver : public cv::Algorithm
{
public:
    class Callback
    {
    public:
        virtual ~Callback() {}
        virtual bool compute(cv::InputArray param, cv::OutputArray err, cv::OutputArray J) const = 0;
    };

    virtual void setCallback(const cv::Ptr<LMSolver::Callback>& cb) = 0;
    virtual int run(cv::InputOutputArray _param0) const = 0;
};

cv::Ptr<LMSolver> createLMSolver(const cv::Ptr<LMSolver::Callback>& cb, int maxIters);

class PointSetRegistrator : public cv::Algorithm
{
public:
    class Callback
    {
    public:
        virtual ~Callback() {}
        virtual int runKernel(cv::InputArray m1, cv::InputArray m2, cv::OutputArray model) const = 0;
        virtual void computeError(cv::InputArray m1, cv::InputArray m2, cv::InputArray model, cv::OutputArray err) const = 0;
        virtual bool checkSubset(cv::InputArray, cv::InputArray, int) const { return true; }
    };

    virtual void setCallback(const cv::Ptr<PointSetRegistrator::Callback>& cb) = 0;
    virtual bool run(cv::InputArray m1, cv::InputArray m2, cv::OutputArray model, cv::OutputArray mask) const = 0;
};

cv::Ptr<PointSetRegistrator> createRANSACPointSetRegistrator(const cv::Ptr<PointSetRegistrator::Callback>& cb,
                                                                    int modelPoints, double threshold,
                                                                    double confidence=0.99, int maxIters=1000 );

cv::Ptr<PointSetRegistrator> createLMeDSPointSetRegistrator(const cv::Ptr<PointSetRegistrator::Callback>& cb,
                                                                   int modelPoints, double confidence=0.99, int maxIters=1000 );

template<typename T> inline int compressElems( T* ptr, const uchar* mask, int mstep, int count )
{
    int i, j;
    for( i = j = 0; i < count; i++ )
        if( mask[i*mstep] )
        {
            if( i > j )
                ptr[j] = ptr[i];
            j++;
        }
    return j;
}

}

#endif /* RTABMAP_CORELIB_SRC_OPENCV_SOLVEPNP_H_ */