PnP.h

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#ifndef DW_IMAGEPROCESSING_GEOMETRY_PNP_H_
#define DW_IMAGEPROCESSING_GEOMETRY_PNP_H_

#include <dw/core/context/Context.h>
#include <dw/core/base/Types.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwPnPObject* dwPnPHandle_t;

DW_API_PUBLIC
dwStatus dwPnP_initialize(dwPnPHandle_t* obj,
                          size_t ransacIterations,
                          size_t optimizerIterations,
                          dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwPnP_reset(dwPnPHandle_t obj);

#define DW_PNP_MAX_POINT_COUNT 128

DW_API_PUBLIC
dwStatus dwPnP_solve(dwTransformation3f* worldToCamera,
                     size_t matchCount,
                     const dwVector3f* rays,
                     const dwVector3f* worldPoints,
                     dwPnPHandle_t obj);

DW_API_PUBLIC
dwStatus dwPnP_release(dwPnPHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif