Method SolvePnPRefineVVS

Namespace

OpenCvSharp

Assembly

OpenCvSharp.dll

SolvePnPRefineVVS(InputArray, InputArray, InputArray, InputArray, InputOutputArray, InputOutputArray, TermCriteria?, double)

Refines a pose (rotation and translation) from 3D-2D point correspondences, starting from an initial solution, using a virtual visual servoing (VVS) scheme.

public static void SolvePnPRefineVVS(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, InputOutputArray rvec, InputOutputArray tvec, TermCriteria? criteria = null, double vvsLambda = 1)

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 iterative algorithm.

vvsLambda double

Gain for the virtual visual servoing control law.