Cv2.SolvePnPRansac Method (IEnumerable(Point3f), IEnumerable(Point2f), Double[,], IEnumerable(Double), Double[], Double[])

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

C++

Copy

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

Public Shared Sub SolvePnPRansac ( 
	objectPoints As IEnumerable(Of Point3f),
	imagePoints As IEnumerable(Of Point2f),
	cameraMatrix As Double(,),
	distCoeffs As IEnumerable(Of Double),
	<OutAttribute> ByRef rvec As Double(),
	<OutAttribute> ByRef tvec As Double()
)

public:
static void SolvePnPRansac(
	IEnumerable<Point3f>^ objectPoints, 
	IEnumerable<Point2f>^ imagePoints, 
	array<double,2>^ cameraMatrix, 
	IEnumerable<double>^ distCoeffs, 
	[OutAttribute] array<double>^% rvec, 
	[OutAttribute] array<double>^% tvec
)

static member SolvePnPRansac : 
        objectPoints : IEnumerable<Point3f> * 
        imagePoints : IEnumerable<Point2f> * 
        cameraMatrix : float[,] * 
        distCoeffs : IEnumerable<float> * 
        rvec : float[] byref * 
        tvec : float[] byref -> unit

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.

Reference

Cv2 Class

SolvePnPRansac Overload

OpenCvSharp.CPlusPlus Namespace