Method ProjectPoints

Namespace

OpenCvSharp

Assembly

OpenCvSharp.dll

ProjectPoints(InputArray, InputArray, InputArray, InputArray, InputArray, OutputArray, OutputArray, double)

projects points from the model coordinate space to the image coordinates. Also computes derivatives of the image coordinates w.r.t the intrinsic and extrinsic camera parameters

public static void ProjectPoints(InputArray objectPoints, InputArray rvec, InputArray tvec, InputArray cameraMatrix, InputArray distCoeffs, OutputArray imagePoints, OutputArray jacobian = default, double aspectRatio = 0)

Parameters

objectPoints InputArray

Array of object points, 3xN/Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points in the view.

rvec InputArray

Rotation vector (3x1).

tvec InputArray

Translation vector (3x1).

cameraMatrix InputArray

Camera matrix (3x3)

distCoeffs InputArray

Input vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) of 4, 5, or 8 elements. If the vector is null, the zero distortion coefficients are assumed.

imagePoints OutputArray

Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel

jacobian OutputArray

Optional output 2Nx(10 + numDistCoeffs) jacobian matrix of derivatives of image points with respect to components of the rotation vector, translation vector, focal lengths, coordinates of the principal point and the distortion coefficients. In the old interface different components of the jacobian are returned via different output parameters.

aspectRatio double

Optional “fixed aspect ratio” parameter. If the parameter is not 0, the function assumes that the aspect ratio (fx/fy) is fixed and correspondingly adjusts the jacobian matrix.

ProjectPoints(IEnumerable<Point3f>, double[], double[], double[,], double[], out Point2f[], out double[,], double)

projects points from the model coordinate space to the image coordinates. Also computes derivatives of the image coordinates w.r.t the intrinsic and extrinsic camera parameters

[SuppressMessage("Maintainability", "CA1508: Avoid dead conditional code")]
public static void ProjectPoints(IEnumerable<Point3f> objectPoints, double[] rvec, double[] tvec, double[,] cameraMatrix, double[] distCoeffs, out Point2f[] imagePoints, out double[,] jacobian, double aspectRatio = 0)

Parameters

objectPoints IEnumerable<Point3f>

Array of object points, 3xN/Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points in the view.

rvec double[]

Rotation vector (3x1).

tvec double[]

Translation vector (3x1).

cameraMatrix double[,]

Camera matrix (3x3)

distCoeffs double[]

Input vector of distortion coefficients (k_1, k_2, p_1, p_2[, k_3[, k_4, k_5, k_6]]) of 4, 5, or 8 elements. If the vector is null, the zero distortion coefficients are assumed.

imagePoints Point2f[]

Output array of image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel

jacobian double[,]

Optional output 2Nx(10 + numDistCoeffs) jacobian matrix of derivatives of image points with respect to components of the rotation vector, translation vector, focal lengths, coordinates of the principal point and the distortion coefficients. In the old interface different components of the jacobian are returned via different output parameters.

aspectRatio double

Optional “fixed aspect ratio” parameter. If the parameter is not 0, the function assumes that the aspect ratio (fx/fy) is fixed and correspondingly adjusts the jacobian matrix.