What's the pseudocode or algorithm inside solvePnP's SOLVEPNP_ITERATIVE flag?

asked 2020-09-24 00:03:30 -0500

aiubian gravatar image

updated 2020-09-24 01:19:44 -0500

Recently, For one of my research paper, I need to know pseudocode or algorithm inside solvePnP's SOLVEPNP_ITERATIVE flag which is based on the Levenberg-Marquardt optimization.

Is there any way to find it? Please help.

Thanks in advance.

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It is LM non-linear optimization method with the analytical form of the derivatives of the rotation matrix wrt. exponential coordinates. There are some references in the Rodrigues documentation.

Eduardo gravatar imageEduardo ( 2020-09-24 06:10:22 -0500 )edit

Thanks for your reply. Is it possible to share the link of references?

aiubian gravatar imageaiubian ( 2020-09-24 21:43:23 -0500 )edit

Have a look at the documentation page: https://docs.opencv.org/

And search for Rodrigues documentation in the calib3d module.

Eduardo gravatar imageEduardo ( 2020-09-25 02:56:36 -0500 )edit

Thanks for your response. I will give a look.

aiubian gravatar imageaiubian ( 2020-10-06 04:41:11 -0500 )edit