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edgarriba 2014-07-30 12:53:14 +02:00
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commit 3b24aa2441
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samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/PnPProblem.h Normal file
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/*
* PnPProblem.h
*
* Created on: Mar 28, 2014
* Author: Edgar Riba
*/
#ifndef PNPPROBLEM_H_
#define PNPPROBLEM_H_
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include "Mesh.h"
#include "ModelRegistration.h"
class PnPProblem
{
public:
explicit PnPProblem(const double param[]); // custom constructor
virtual ~PnPProblem();
bool backproject2DPoint(const Mesh *mesh, const cv::Point2f &point2d, cv::Point3f &point3d);
bool intersect_MollerTrumbore(Ray &R, Triangle &T, double *out);
std::vector<cv::Point2f> verify_points(Mesh *mesh);
cv::Point2f backproject3DPoint(const cv::Point3f &point3d);
bool estimatePose(const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d, int flags);
void estimatePoseRANSAC( const std::vector<cv::Point3f> &list_points3d, const std::vector<cv::Point2f> &list_points2d,
int flags, cv::Mat &inliers,
int iterationsCount, float reprojectionError, float confidence );
cv::Mat get_A_matrix() const { return _A_matrix; }
cv::Mat get_R_matrix() const { return _R_matrix; }
cv::Mat get_t_matrix() const { return _t_matrix; }
cv::Mat get_P_matrix() const { return _P_matrix; }
void set_P_matrix( const cv::Mat &R_matrix, const cv::Mat &t_matrix);
private:
/** The calibration matrix */
cv::Mat _A_matrix;
/** The computed rotation matrix */
cv::Mat _R_matrix;
/** The computed translation matrix */
cv::Mat _t_matrix;
/** The computed projection matrix */
cv::Mat _P_matrix;
};
#endif /* PNPPROBLEM_H_ */