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​​KC35 - solvePnPMultiView pseudo code

​​Function signature

​​ideally the function comes in the following 3 forms:

​​

​​double solvePnPMultiView(vector<vector<cv::Point3f>> objectPointsPerView

​​        , vector<vector<cv::Point2f>> imagePointProjectionsPerView

​​        , vector<cv::Mat> cameraMatrixPerView

​​        , vector<cv::Mat> distortionCoefficientsPerView

​​        , vector<cv::Mat> translationPerView

​​        , vector<cv::Mat> rotationVectorPerView

​​


​​        , cv::Mat & objectRotationVector

​​        , cv::Mat & objectTranslation

​​        , bool useExtrinsicGuess);

​​


​​


​​//same function but with different data format

​​double solvePnPMultiView(vector<vector<cv::Point3f>> objectPointsPerView

​​        , vector<vector<cv::Point2f>> undsitortedImagePointProjectionsPerView

​​        , vector<cv::Mat> rectifiedProjectionMatrixPerView

​​


​​        , cv::Mat & objectRotationVector

​​        , cv::Mat & objectTranslation

​​        , bool useExtrinsicGuess);

​​


​​//specific version for stereo (calls one of the functions above)

​​double solvePnPStereo(vector<cv::Point3f> objectPointsObservedInCamera1

​​        , vector<cv::Point2f> projectedImagePointsObservedInCamera1

​​        , vector<cv::Point3f> objectPointsObservedInCamera2

​​        , vector<cv::Point2f> projectedImagePointsObservedInCamera2

​​        , cv::Mat cameraMatrix1

​​        , cv::Mat distortionCoefficientsCamera1

​​        , cv::Mat cameraMatrix2

​​        , cv::Mat distortionCoefficientsCamera2

​​        , cv::Mat camera1ToCamera2RotationVector

​​        , cv::Mat camera1ToCamera2Translation

​​


​​        , cv::Mat & objectRotationVector

​​        , cv::Mat & objectTranslation

​​        , bool useExtrinsicGuess);

​​Adapting prior art

​​looking at the function cvFindExtrinsicCameraParams2​ for reference, we see:

​​// refine extrinsic parameters using iterative algorithm

​​CvLevMarq solver( 6, count*2, cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,max_iter,FLT_EPSILON), true);

​​cvCopy( &_param, solver.param );

​​


​​for(;;)

​​{

​​    CvMat *matJ = 0, *_err = 0;

​​    const CvMat *__param = 0;