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Cv2SolvePnP Method (IEnumerablePoint3f, IEnumerablePoint2f, Double, IEnumerableDouble, Double, Double, Boolean, SolvePnPFlags)

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

Namespace:  OpenCvSharp
Assembly:  OpenCvSharp (in OpenCvSharp.dll) Version: 1.0.0
Syntax
public static void SolvePnP(
	IEnumerable<Point3f> objectPoints,
	IEnumerable<Point2f> imagePoints,
	double[,] cameraMatrix,
	IEnumerable<double> distCoeffs,
	ref double[] rvec,
	ref double[] tvec,
	bool useExtrinsicGuess = false,
	SolvePnPFlags flags = SolvePnPFlags.Iterative
)

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. vector<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. vector<Point2f> can be also passed here.
cameraMatrix
Type: SystemDouble
Input 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.
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: OpenCvSharpSolvePnPFlags
Method for solving a PnP problem
See Also