ETcVnSolvePnPMethod

Offers SolvePnP methods.

Syntax

Definition:

TYPE ETcVnSolvePnPMethod :
(
    TCVN_SPM_ITERATIVE   := 0,
    TCVN_SPM_EPNP        := 1,
    TCVN_SPM_P3P         := 2,
    TCVN_SPM_AP3P        := 5,
    TCVN_SPM_IPPE        := 6,
    TCVN_SPM_IPPE_SQUARE := 7,
    TCVN_SPM_SQPNP       := 8
)DINT;
END_TYPE

Values

Name

Description

TCVN_SPM_ITERATIVE

Levenberg-Marquardt optimization. Requires at least 4 planar or 6 non-planar reference points.

TCVN_SPM_EPNP

Efficient perspective-n-point camera pose estimation. Requires at least 4 reference points.

TCVN_SPM_P3P

Complete solution classification for the perspective-three-point problem. Requires exactly 4 reference points to find a unique solution.

TCVN_SPM_AP3P

An efficient algebraic solution to the perspective-three-point problem. Requires exactly 4 reference points to find a unique solution.

TCVN_SPM_IPPE

Infinitesimal plane-based pose estimation. Requires at least 4 coplanar reference points.

TCVN_SPM_IPPE_SQUARE

IPPE specialization for squares. Requires exactly 4 reference points in the following order (hsl: half square length): (-hsl, hsl, 0), (hsl, hsl, 0), (hsl, -hsl, 0), (-hsl, -hsl, 0)

TCVN_SPM_SQPNP

A consistently fast and globally optimal solution to the perspective-n-point problem. Requires at least 4 reference points.