tiadalg_solve_pnp.h File Reference

This file defines the interface for pose estimation using pnp technique. More...

#include <tiadalg_interface.h>

Go to the source code of this file.

#define	EXTERNC
EXTERNC int32_t	tiadalg_solve_pnp_cn (tiadalg_p3p_params *params, float R[3][3], float tvec[3], const float twoDPoints[][2], const float threeDPoints[][3], const int numberOfpoints)
	This API does camera pose estimation using p3p operations. More...
EXTERNC int32_t	tiadalg_solve_pnp_c66 (tiadalg_p3p_params *params, float R[3][3], float tvec[3], const float twoDPoints[][2], const float threeDPoints[][3], const int numberOfpoints)
	It does camera pose estimation using solve pnp technique. More...

Detailed Description

This file defines the interface for pose estimation using pnp technique.

Version

0.1 Sep 2019 : Initial Code

Macro Definition Documentation

EXTERNC

#define EXTERNC

Function Documentation

tiadalg_solve_pnp_cn()

EXTERNC int32_t tiadalg_solve_pnp_cn	(	tiadalg_p3p_params *	params,
		float	R[3][3],
		float	tvec[3],
		const float	twoDPoints[][2],
		const float	threeDPoints[][3],
		const int	numberOfpoints
	)

This API does camera pose estimation using p3p operations.

tiadalg_solve_pnp_cn

Parameters

params	[in] : Control parameters for p3p operations. refer tiadalg_p3p_params
R	[out] : Output 3x3 rotation matrix
tvec	[out] : Output 3x1 translation matrix [tx,ty,tz]
twoDPoints	[in] : List of 2d points. x, and y co-ordinates are interleaved
threeDPoints	[in] : List of coresponding 3d points. X,Y,Z are interleaved
numberOfpoints	[in] : Total number of matching 2d and 3d points

Note

• API returns API scucess (TIADALG_PROCESS_SUCESS) or failure of estimation
• Size of the buffer twoDPoints is 2*numberOfpoints float values
• Size of the buffer threeDPoints is 3* numberOfpoints float values

tiadalg_solve_pnp_c66()

EXTERNC int32_t tiadalg_solve_pnp_c66	(	tiadalg_p3p_params *	params,
		float	R[3][3],
		float	tvec[3],
		const float	twoDPoints[][2],
		const float	threeDPoints[][3],
		const int	numberOfpoints
	)

It does camera pose estimation using solve pnp technique.

tiadalg_solve_pnp_c66

Parameters

params	[in] : Control parameters for p3p operations. refer tiadalg_p3p_params
R	[out] : Output 3x3 rotation matrix
tvec	[out] : Output 3x1 translation matrix [tx,ty,tz]
twoDPoints	[in] : List of 2d points. x, and y co-ordinates are interleaved
threeDPoints	[in] : List of coresponding 3d points. X,Y,Z are interleaved
numberOfpoints	[in] : Total number of matching 2d and 3d points

Note

• API returns API scucess (TIADALG_PROCESS_SUCESS) or failure of estimation
• Size of the buffer twoDPoints is 2*numberOfpoints float vlaues
• Size of the buffer threeDPoints is 3* numberOfpoints float values