Code tutorial

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/include/PnPProblem.h

@@ -0,0 +1,53 @@
+/*
+ * 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_ */