Method SolvePnPRefineLM

Namespace

OpenCvSharp

Assembly

OpenCvSharp.dll

SolvePnPRefineLM(InputArray, InputArray, InputArray, InputArray, InputOutputArray, InputOutputArray, TermCriteria?)

Refines a pose (rotation and translation) from 3D-2D point correspondences, starting from an initial solution, using a Levenberg-Marquardt iterative scheme.

public static void SolvePnPRefineLM(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, TermCriteria? criteria = null)

Parameters

objectPoints InputArray

Array of object points in the object coordinate space.

imagePoints InputArray

Array of corresponding image points.

cameraMatrix InputArray

Input camera intrinsic matrix.

distCoeffs InputArray

Input vector of distortion coefficients. If empty, zero distortion is assumed.

rvec InputOutputArray

Input/Output rotation vector. Input values are used as the initial solution.

tvec InputOutputArray

Input/Output translation vector. Input values are used as the initial solution.

criteria TermCriteria?

Criteria when to stop the Levenberg-Marquardt iterative algorithm.