Method SolvePnPRansac

Namespace

OpenCvSharp

Assembly

OpenCvSharp.dll

SolvePnPRansac(InputArray, InputArray, InputArray, InputArray, OutputArray, OutputArray, bool, int, float, double, OutputArray, SolvePnPMethod)

computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.

public static void SolvePnPRansac(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, int iterationsCount = 100, float reprojectionError = 8, double confidence = 0.99, OutputArray inliers = default, SolvePnPMethod flags = SolvePnPMethod.Iterative)

Parameters

objectPoints InputArray

Array of object points in the object coordinate space, 3xN/Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. List<Point3f> can be also passed here.

imagePoints InputArray

Array of corresponding image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. List<Point2f> can be also passed here.

cameraMatrix InputArray

Input 3x3 camera matrix

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.

rvec OutputArray

Output rotation vector that, together with tvec , brings points from the model coordinate system to the camera coordinate system.

tvec OutputArray

Output translation vector.

useExtrinsicGuess bool

If true, the function uses the provided rvec and tvec values as initial approximations of the rotation and translation vectors, respectively, and further optimizes them.

iterationsCount int

Number of iterations.

reprojectionError float

Inlier threshold value used by the RANSAC procedure. The parameter value is the maximum allowed distance between the observed and computed point projections to consider it an inlier.

confidence double

The probability that the algorithm produces a useful result.

inliers OutputArray

Output vector that contains indices of inliers in objectPoints and imagePoints .

flags SolvePnPMethod

Method for solving a PnP problem

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

computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.

public static void SolvePnPRansac(IEnumerable<Point3f> objectPoints, IEnumerable<Point2f> imagePoints, double[,] cameraMatrix, IEnumerable<double> distCoeffs, out double[] rvec, out double[] tvec)

Parameters

objectPoints IEnumerable<Point3f>

Array of object points in the object coordinate space, 3xN/Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. List<Point3f> can be also passed here.

imagePoints IEnumerable<Point2f>

Array of corresponding image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. List<Point2f> can be also passed here.

cameraMatrix double[,]

Input 3x3 camera matrix

distCoeffs IEnumerable<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.

rvec double[]

Output rotation vector that, together with tvec , brings points from the model coordinate system to the camera coordinate system.

tvec double[]

Output translation vector.

SolvePnPRansac(IEnumerable<Point3f>, IEnumerable<Point2f>, double[,], IEnumerable<double>?, out double[], out double[], out int[], bool, int, float, double, SolvePnPMethod)

computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.

[SuppressMessage("Maintainability", "CA1508: Avoid dead conditional code")]
public static void SolvePnPRansac(IEnumerable<Point3f> objectPoints, IEnumerable<Point2f> imagePoints, double[,] cameraMatrix, IEnumerable<double>? distCoeffs, out double[] rvec, out double[] tvec, out int[] inliers, bool useExtrinsicGuess = false, int iterationsCount = 100, float reprojectionError = 8, double confidence = 0.99, SolvePnPMethod flags = SolvePnPMethod.Iterative)

Parameters

objectPoints IEnumerable<Point3f>

Array of object points in the object coordinate space, 3xN/Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. List<Point3f> can be also passed here.

imagePoints IEnumerable<Point2f>

Array of corresponding image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. List<Point2f> can be also passed here.

cameraMatrix double[,]

Input 3x3 camera matrix

distCoeffs IEnumerable<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.

rvec double[]

Output rotation vector that, together with tvec , brings points from the model coordinate system to the camera coordinate system.

tvec double[]

Output translation vector.

inliers int[]

Output vector that contains indices of inliers in objectPoints and imagePoints .

useExtrinsicGuess bool

If true, the function uses the provided rvec and tvec values as initial approximations of the rotation and translation vectors, respectively, and further optimizes them.

iterationsCount int

Number of iterations.

reprojectionError float

Inlier threshold value used by the RANSAC procedure. The parameter value is the maximum allowed distance between the observed and computed point projections to consider it an inlier.

confidence double

The probability that the algorithm produces a useful result.

flags SolvePnPMethod

Method for solving a PnP problem