F_VN_SolvePnPExp
Computes the rotation matrix and translation vector from 3D-2D point correspondences. (expert function)
Syntax
Definition:
FUNCTION F_VN_SolvePnPExp : HRESULT
VAR_INPUT
ipImagePoints : ITcVnContainer;
ipReferencePoints : ITcVnContainer;
END_VAR
VAR_IN_OUT
aCameraMatrix : TcVnMatrix3x3_LREAL;
aDistortionCoefficients : TcVnArray8_LREAL;
aRotationMatrix : TcVnMatrix3x3_LREAL;
aTranslationVector : TcVnVector3_LREAL;
fReprojError : LREAL;
END_VAR
VAR_INPUT
eMethod : ETcVnSolvePnPMethod;
bUseExtrinsicGuess : BOOL;
hrPrev : HRESULT;
END_VAR
Inputs
|
Name |
Type |
Description |
|---|---|---|
|
ipImagePoints |
Image points (ContainerType_Vector_TcVnPoint2_REAL, requires at least 4 points in the same order as in ipReferencePoints) | |
|
ipReferencePoints |
Reference world points (ContainerType_Vector_TcVnPoint3_REAL, same number of points as in ipImagePoints) | |
|
eMethod |
Solve PnP method | |
|
bUseExtrinsicGuess |
BOOL |
If true, the provided rotation matrix and translation vector are used as an initial guess for further optimization (only supported for the SPM_ITERATIVE method). |
|
hrPrev |
HRESULT indicating the result of previous operations (If SUCCEEDED(hrPrev) equals false, no operation is executed.) |
In/Outputs
|
Name |
Type |
Description |
|---|---|---|
|
aCameraMatrix |
Camera matrix (e.g. computed with one of the CalibrateCamera functions) | |
|
aDistortionCoefficients |
Lens distortion coefficients [k1, k2, p1, p2, k3, k4, k5, k6] (e.g. computed with one of the CalibrateCamera functions) | |
|
aRotationMatrix |
Returns the rotation matrix | |
|
aTranslationVector |
Returns the translation vector | |
|
fReprojError |
LREAL |
Returns the reprojection error |
Return valueRequired License
TC3 Vision Metrology 2D