PnPProblem.h

#ifndef PNPPROBLEM_H_
#define PNPPROBLEM_H_

#include <iostream>

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>


class PnPProblem
{
public:
    explicit PnPProblem(const double param[]);  // custom constructor
    virtual ~PnPProblem();

    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, double 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_ */