00001 #if !defined(_PNP_RANSAC_H)
00002 #define _PNP_RANSAC_H
00003
00004 #include "cv.h"
00005
00006 #define MIN_POINTS_COUNT 4
00007
00008 void project3dPoints(const std::vector<cv::Point3f>& points, const cv::Mat& rvec, const cv::Mat& tvec,
00009 std::vector<cv::Point3f>& modif_points);
00010
00011 bool solvePnPRansac(const std::vector<cv::Point3f>& object_points, const std::vector<cv::Point2f>& image_points, const cv::Mat& camera_matrix, const cv::Mat& distCoeffs,
00012 cv::Mat& rvec, cv::Mat& tvec, bool use_extrinsic_guess = false, int num_iterations = 100,
00013 float max_dist = 2.0, int min_inlier_num = -1, std::vector<int>* inliers = NULL);
00014
00015 #endif
