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How does solvePnP (iterative) initialize its solution

asked 2015-07-28 18:58:10 -0600

Kristian Zarn gravatar image

Documentation says that solvePnP uses iterative method by default. However iterative method needs an initial solution to work and it does not say how the solution is initialized. I would like to know this for my thesis.

Is it maybe a simple DLT (the one that needs at least 6 points) or something else?

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answered 2015-07-29 01:23:11 -0600

OpenCV is OpenSource so let's check:

SolvePnP is here: github and it uses cvFindExtrinsicCameraParams2 if the Iterative-Flag is set. And that function is here.

So at least the comment says that it uses the DLT if you have a non-planar set of points.

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Asked: 2015-07-28 18:58:10 -0600

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Last updated: Jul 29 '15