Cv2SolvePnPRansac Method (IEnumerablePoint3f, IEnumerablePoint2f, Double, IEnumerableDouble, Double, Double) OpenCvSharp Class Library
computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.

Namespace:  OpenCvSharp.CPlusPlus
Assembly:  OpenCvSharp.CPlusPlus (in OpenCvSharp.CPlusPlus.dll) Version: 1.0.0.0 (1.0.0.0)
Syntax

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

Parameters

objectPoints
Type: System.Collections.GenericIEnumerablePoint3f
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
Type: System.Collections.GenericIEnumerablePoint2f
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
Type: SystemDouble
Input 3x3 camera matrix
distCoeffs
Type: System.Collections.GenericIEnumerableDouble
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
Type: SystemDouble
Output rotation vector that, together with tvec , brings points from the model coordinate system to the camera coordinate system.
tvec
Type: SystemDouble
Output translation vector.
See Also

Reference