PnP.h

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/*
 * Copyright (c) 2021, NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 *
 * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
 * property and proprietary rights in and to this material, related 
 * documentation and any modifications thereto. Any use, reproduction, 
 * disclosure or distribution of this material and related documentation
 * without an express license agreement from NVIDIA CORPORATION or 
 * its affiliates is strictly prohibited.
 * 
 * SPDX-FileCopyrightText: Copyright (c) 2021 NVIDIA CORPORATION & AFFILIATES
 * SPDX-License-Identifier: LicenseRef-NvidiaProprietary
 */
 
#include <cv/core/Array.h>
#include <cv/core/MathTypes.h>
 
#include <vector>
 
namespace cvcore {
namespace vision3d {
 
struct PoseHypothesis {
  Pose3d pose;
  double score;
  std::vector<uint32_t> inliers;
};
 
uint32_t EvaluateRansacFormula(const float successRate,
                               const float outlierRatio,
                               const uint32_t sampleSize);
 
Pose3d ComputeCameraPoseEpnp(const Array<Vector3d> &points3,
                             const Array<Vector2d> &points2,
                             const Vector2d focal, const Vector2d principal);
 
std::vector<PoseHypothesis> ComputeCameraPoseEpnpRansac(
    const Array<Vector3d> &points3, const Array<Vector2d> &points2,
    const Vector2d focal, const Vector2d principal,
    const uint32_t numExperiments, const double ransacThreshold,
    const uint32_t maxTopPoses, const uint32_t seed);
 
Pose3d ComputeCameraPoseIterativePnp(const Array<Vector3d> &points3,
                                     const Array<Vector2d> &points2,
                                     const Vector2d focal, const Vector2d principal,
                                     const Pose3d& initialGuess, size_t iterations = 5);
} // namespace vision3d
} // namespace cvcore