dls() no compiles

modules/calib3d/src/dls.h

-#ifndef dls_h
-#define dls_h
+#ifndef DLS_H
+#define DLS_H
 
-#include "opencv2/core/core_c.h"
+#include "precomp.hpp"
 
 class dls
 {
 public:
-	dls();
+	dls(const cv::Mat& opoints, const cv::Mat& ipoints);
 	~dls();
 
-private:
+	void init_vectors(const cv::Mat& opoints, const cv::Mat& ipoints);
+	void build_coeff_mattrix();
+	cv::Mat LeftMultVec(const cv::Mat& v);
+	cv::Mat cayley_LS_M(const std::vector<double>& a, const std::vector<double>& b, const std::vector<double>& c, const std::vector<double>& u);
 
+private:
+	cv::Mat H;			// coeff matrix
+	cv::Mat A;
+	cv::Mat D_mat;
+	std::vector<double> f1coeff;
+	std::vector<double> f2coeff;
+	std::vector<double> f3coeff;
+	cv::Mat p;			// object points
+	cv::Mat z;			// image points
+	int N;				// number of input points
 };
 
 
-#endif
+#endif // DLS_H

modules/calib3d/src/solvepnp.cpp

@@ -41,10 +41,10 @@
  //M*/
 
 #include "precomp.hpp"
+#include "dls.h"
 #include "epnp.h"
 #include "p3p.h"
 #include "opencv2/calib3d/calib3d_c.h"
-#include "dls.h"
 
 #include <iostream>
 using namespace cv;
@@ -100,12 +100,13 @@ bool cv::solvePnP( InputArray _opoints, InputArray _ipoints,
     	cv::Mat undistortedPoints;
     	cv::undistortPoints(ipoints, undistortedPoints, cameraMatrix, distCoeffs);
 
-    	//dls PnP;
+
+    	dls PnP(opoints, undistortedPoints);
     	//  DO SOMETHING
 
     	cv::Mat R, rvec = _rvec.getMat(), tvec = _tvec.getMat();
 
-
+    	return true;
     }
     else
         CV_Error(CV_StsBadArg, "The flags argument must be one of CV_ITERATIVE, CV_P3P or CV_EPNP");