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#ifndef __OPENCV_CUDA_HPP__
#define __OPENCV_CUDA_HPP__

#ifndef __cplusplus
#  error cuda.hpp header must be compiled as C++
#endif

#include "opencv2/core/cuda.hpp"

/**
    @addtogroup cuda
    @{
        @defgroup cuda_calib3d Camera Calibration and 3D Reconstruction
    @}
 */

namespace cv { namespace cuda {

//////////////////////////// Calib3d ////////////////////////////

//! @addtogroup cuda_calib3d
//! @{

CV_EXPORTS void transformPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
                                GpuMat& dst, Stream& stream = Stream::Null());

CV_EXPORTS void projectPoints(const GpuMat& src, const Mat& rvec, const Mat& tvec,
                              const Mat& camera_mat, const Mat& dist_coef, GpuMat& dst,
                              Stream& stream = Stream::Null());

/** @brief Finds the object pose from 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 undistortPoints for details.
@param rvec Output 3D rotation vector.
@param tvec Output 3D translation vector.
@param use_extrinsic_guess Flag to indicate that the function must use rvec and tvec as an
initial transformation guess. It is not 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 Flag to indicate that the function must stop if greater or equal number
of inliers is achieved. It is not supported for now.
@param inliers Output vector of inlier indices.
 */
CV_EXPORTS void 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,
                               std::vector<int>* inliers=NULL);

//! @}

}} // namespace cv { namespace cuda {

#endif /* __OPENCV_CUDA_HPP__ */