Cv2.SolvePnP Method (InputArray, InputArray, InputArray, InputArray, OutputArray, OutputArray, Boolean, SolvePnPFlag)

Cv2SolvePnP Method (InputArray, InputArray, InputArray, InputArray, OutputArray, OutputArray, Boolean, SolvePnPFlag)

OpenCvSharp Class Library

Finds an object pose from 3D-2D point correspondences.

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 SolvePnP(
	InputArray objectPoints,
	InputArray imagePoints,
	InputArray cameraMatrix,
	InputArray distCoeffs,
	OutputArray rvec,
	OutputArray tvec,
	bool useExtrinsicGuess = false,
	SolvePnPFlag flags = SolvePnPFlag.Iterative
)

Public Shared Sub SolvePnP ( 
	objectPoints As InputArray,
	imagePoints As InputArray,
	cameraMatrix As InputArray,
	distCoeffs As InputArray,
	rvec As OutputArray,
	tvec As OutputArray,
	Optional useExtrinsicGuess As Boolean = false,
	Optional flags As SolvePnPFlag = SolvePnPFlag.Iterative
)

public:
static void SolvePnP(
	InputArray^ objectPoints, 
	InputArray^ imagePoints, 
	InputArray^ cameraMatrix, 
	InputArray^ distCoeffs, 
	OutputArray^ rvec, 
	OutputArray^ tvec, 
	bool useExtrinsicGuess = false, 
	SolvePnPFlag flags = SolvePnPFlag::Iterative
)

static member SolvePnP : 
        objectPoints : InputArray * 
        imagePoints : InputArray * 
        cameraMatrix : InputArray * 
        distCoeffs : InputArray * 
        rvec : OutputArray * 
        tvec : OutputArray * 
        ?useExtrinsicGuess : bool * 
        ?flags : SolvePnPFlag 
(* Defaults:
        let _useExtrinsicGuess = defaultArg useExtrinsicGuess false
        let _flags = defaultArg flags SolvePnPFlag.Iterative
*)
-> unit

Parameters

objectPoints: Type: OpenCvSharp.CPlusPlusInputArray
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. vector<Point3f> can be also passed here.
imagePoints: Type: OpenCvSharp.CPlusPlusInputArray
Array of corresponding image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector<Point2f> can be also passed here.
cameraMatrix: Type: OpenCvSharp.CPlusPlusInputArray
Input camera matrix
distCoeffs: Type: OpenCvSharp.CPlusPlusInputArray
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: OpenCvSharp.CPlusPlusOutputArray
Output rotation vector that, together with tvec , brings points from the model coordinate system to the camera coordinate system.
tvec: Type: OpenCvSharp.CPlusPlusOutputArray
Output translation vector.
useExtrinsicGuess (Optional): Type: SystemBoolean
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.
flags (Optional): Type: OpenCvSharp.CPlusPlusSolvePnPFlag
Method for solving a PnP problem:

Reference

Cv2 Class

SolvePnP Overload

OpenCvSharp.CPlusPlus Namespace