Pose Interface

Detailed Description

Defines methods to solve the perspective-n-points (PnP) problem.

Macros
#define	DW_PNP_MAX_POINT_COUNT   128
	Defines the maximum number of points that can be processed by the PnP solver. More...

Typedefs
typedef struct dwPnPObject *	dwPnPHandle_t
	A pointer to the handle representing a PnP solver. More...

Functions
DW_API_PUBLIC dwStatus	dwPnP_initialize (dwPnPHandle_t *obj, size_t ransacIterations, size_t optimizerIterations, dwContextHandle_t ctx)
	Initializes a PnP solver. More...
DW_API_PUBLIC dwStatus	dwPnP_reset (dwPnPHandle_t obj)
	Resets the PnP solver. More...
DW_API_PUBLIC dwStatus	dwPnP_solve (dwTransformation3f *worldToCamera, size_t matchCount, const dwVector3f *rays, const dwVector3f *worldPoints, dwPnPHandle_t obj)
	Estimates the worldToCamera pose based on optical ray to 3D world point correspondences. More...
DW_API_PUBLIC dwStatus	dwPnP_release (dwPnPHandle_t obj)
	Releases the PnP solver. More...

Macro Definition Documentation

DW_PNP_MAX_POINT_COUNT

#define DW_PNP_MAX_POINT_COUNT   128

Defines the maximum number of points that can be processed by the PnP solver.

Definition at line 84 of file PnP.h.

Typedef Documentation

dwPnPHandle_t

typedef struct dwPnPObject* dwPnPHandle_t

A pointer to the handle representing a PnP solver.

This object allows you to solve perspective-n-points problems, i.e. estimating camera pose from 2D-3D correspondences.

Definition at line 43 of file PnP.h.

Function Documentation

dwPnP_initialize()

DW_API_PUBLIC dwStatus dwPnP_initialize	(	dwPnPHandle_t *	obj,
		size_t	ransacIterations,
		size_t	optimizerIterations,
		dwContextHandle_t	ctx
	)

Initializes a PnP solver.

Parameters

[out]	obj	A pointer to the PnP handle for the created module.
[in]	ransacIterations	The number of P3P ransac iterations to run when solving a PnP pose.
[in]	optimizerIterations	The number of non-linear optimization iterations to run when solving a PnP pose.
[in]	ctx	Specifies the handler to the context to create the rectifier.

Returns

DW_INVALID_ARGUMENT - if the PnP handle is NULL
DW_SUCCESS

API Group

• Init: Yes
• Runtime: No
• De-Init: No

dwPnP_release()

DW_API_PUBLIC dwStatus dwPnP_release

(

dwPnPHandle_t

obj

)

Releases the PnP solver.

Parameters

[in]

obj

The object handle to release.

Returns

DW_SUCCESS
DW_INVALID_HANDLE - If the given handle is invalid,i.e. null or of wrong type

Note

This method renders the handle unusable.

API Group

• Init: Yes
• Runtime: No
• De-Init: Yes

dwPnP_reset()

DW_API_PUBLIC dwStatus dwPnP_reset

(

dwPnPHandle_t

obj

)

Resets the PnP solver.

Parameters

[in]

obj

Specifies the solver to reset.

Returns

DW_SUCCESS
DW_INVALID_HANDLE - If the given handle is invalid,i.e. null or of wrong type

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwPnP_solve()

DW_API_PUBLIC dwStatus dwPnP_solve	(	dwTransformation3f *	worldToCamera,
		size_t	matchCount,
		const dwVector3f *	rays,
		const dwVector3f *	worldPoints,
		dwPnPHandle_t	obj
	)

Estimates the worldToCamera pose based on optical ray to 3D world point correspondences.

The rays can be obtained by applying the camera model to 2D pixel positions. The 3D world points come from known world structure.

Parameters

[out]	worldToCamera	The estimated pose
[in]	matchCount	The number of ray to point correspondences.
[in]	rays	The optical rays. Their norm is expected to be one.
[in]	worldPoints	The 3D world points that correspond to the rays provided.
[in]	obj	A pointer to the PnP handle for the created module.

Returns

DW_SUCCESS
DW_INVALID_HANDLE - If the given handle is invalid,i.e. null or of wrong type
DW_INVALID_ARGUMENT - If any arguments is null, or too few (minimum three are required), or too many points (more than DW_PNP_MAX_POINT_COUNT) are provided

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes