Merge pull request #5691 from paroj:levmarqLU

modules/calib3d/include/opencv2/calib3d.hpp

@@ -189,10 +189,10 @@ enum { LMEDS  = 4, //!< least-median algorithm
      };
 
 enum { SOLVEPNP_ITERATIVE = 0,
-       SOLVEPNP_EPNP      = 1, // F.Moreno-Noguer, V.Lepetit and P.Fua "EPnP: Efficient Perspective-n-Point Camera Pose Estimation"
-       SOLVEPNP_P3P       = 2, // X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang; "Complete Solution Classification for the Perspective-Three-Point Problem"
-       SOLVEPNP_DLS       = 3, // Joel A. Hesch and Stergios I. Roumeliotis. "A Direct Least-Squares (DLS) Method for PnP"
-       SOLVEPNP_UPNP      = 4  // A.Penate-Sanchez, J.Andrade-Cetto, F.Moreno-Noguer. "Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation"
+       SOLVEPNP_EPNP      = 1, //!< EPnP: Efficient Perspective-n-Point Camera Pose Estimation @cite lepetit2009epnp
+       SOLVEPNP_P3P       = 2, //!< Complete Solution Classification for the Perspective-Three-Point Problem @cite gao2003complete
+       SOLVEPNP_DLS       = 3, //!< A Direct Least-Squares (DLS) Method for PnP  @cite hesch2011direct
+       SOLVEPNP_UPNP      = 4  //!< Exhaustive Linearization for Robust Camera Pose and Focal Length Estimation @cite penate2013exhaustive
 
 };
 
@@ -225,7 +225,8 @@ enum { CALIB_USE_INTRINSIC_GUESS = 0x00001,
        CALIB_FIX_INTRINSIC       = 0x00100,
        CALIB_SAME_FOCAL_LENGTH   = 0x00200,
        // for stereo rectification
-       CALIB_ZERO_DISPARITY      = 0x00400
+       CALIB_ZERO_DISPARITY      = 0x00400,
+       CALIB_USE_LU              = (1 << 17), //!< use LU instead of SVD decomposition for solving. much faster but potentially less precise
      };
 
 //! the algorithm for finding fundamental matrix

modules/calib3d/include/opencv2/calib3d/calib3d_c.h

@@ -415,6 +415,7 @@ public:
     int state;
     int iters;
     bool completeSymmFlag;
+    int solveMethod;
 };
 
 #endif