From c067c633f018db04e95983a2a68ac3b827cd57c3 Mon Sep 17 00:00:00 2001
From: Alexey Spizhevoy <no@email>
Date: Wed, 9 Mar 2011 08:48:39 +0000
Subject: [PATCH] added docs for gpu::solvePnPRansac

---
 ...mera_calibration_and_3d_reconstruction.rst | 32 +++++++++++++++++++
 samples/gpu/performance/tests.cpp             |  2 +-
 2 files changed, 33 insertions(+), 1 deletion(-)

diff --git a/modules/gpu/doc/camera_calibration_and_3d_reconstruction.rst b/modules/gpu/doc/camera_calibration_and_3d_reconstruction.rst
index 48627fa04e..64f2cfecb2 100644
--- a/modules/gpu/doc/camera_calibration_and_3d_reconstruction.rst
+++ b/modules/gpu/doc/camera_calibration_and_3d_reconstruction.rst
@@ -510,3 +510,35 @@ gpu::reprojectImageTo3D
 See also:
 :func:`reprojectImageTo3D` .
 
+.. index:: gpu::solvePnPRansac
+
+gpu::solvePnPRansac
+-------------------
+
+.. c:function:: void gpu::solvePnPRansac(const Mat& object, const Mat& image, const Mat& camera_mat, const Mat& dist_coef, Mat& rvec, Mat& tvec, bool use_extrinsic_guess=false, int num_iters=100, float max_dist=8.0, int min_inlier_count=100, vector<int>* inliers=NULL)
+
+    Finds the object pose from the 3D-2D point correspondences.
+    
+    :param object: Single-row matrix of object points.
+    
+    :param image: Single-row matrix of image points.
+    
+    :param camera_mat: 3x3 matrix of intrinsic camera parameters.
+    
+    :param dist_coef: Distortion coefficients. See :c:func:`undistortPoints` for details.
+    
+    :param rvec: Output 3D rotation vector.
+    
+    :param tvec: Output 3D translation vector.
+    
+    :param use_extrinsic_guess: Indicates the function must use ``rvec`` and ``tvec`` as initial transformation guess. It isn't supported for now.
+    
+    :param num_iters: Maximum number of RANSAC iterations.
+    
+    :param max_dist: Euclidean distance threshold to detect whether point is inlier or not.
+    
+    :param min_inlier_count: Indicates the function must stop if greater or equal number of inliers is achieved. It isn't supported for now.
+    
+    :param inliers: Output vector of inlier indices.   
+
+See also :c:func:`solvePnPRansac`.    
\ No newline at end of file
diff --git a/samples/gpu/performance/tests.cpp b/samples/gpu/performance/tests.cpp
index 85c5f77743..34af5aef63 100644
--- a/samples/gpu/performance/tests.cpp
+++ b/samples/gpu/performance/tests.cpp
@@ -791,7 +791,7 @@ void InitSolvePnpRansac()
 }
 
 
-TEST(solvePnpRansac)
+TEST(solvePnPRansac)
 {
     InitSolvePnpRansac();