ransac.hpp

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// Copyright 2026, Beyley Cardellio
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  RANSAC PnP solver
 * @author Beyley Cardellio <ep1cm1n10n123@gmail.com>
 * @ingroup tracking
 */
 
#pragma once
 
#include "tracking/t_camera_models.hpp"
#include "tracking/t_constellation.h"
 
#include <Eigen/Core>
#include <Eigen/Geometry>
 
 
namespace xrt::tracking::constellation::optimizer {
 
bool
ransacPose(bool deterministic,
           const t_camera_model_params &dist,
           const std::vector<t_blob *> &data_points_2d_f32,
           const std::vector<Eigen::Vector3f> &data_points_3d_f32,
           const std::vector<Eigen::Vector3f> &data_points_3d_normals_f32,
           std::vector<size_t> &inlier_indices,
           xrt_pose &out_pose);
 
}; // namespace xrt::tracking::constellation::optimizer