Cv2SolvePnPRansac Method (InputArray, InputArray, InputArray, InputArray, OutputArray, OutputArray, Boolean, Int32, Single, Double, OutputArray, SolvePnPFlags)

computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.

Namespace: OpenCvSharp
Assembly: OpenCvSharp (in OpenCvSharp.dll) Version: 1.0.0

Syntax

C++

Copy

public static void SolvePnPRansac(
	InputArray objectPoints,
	InputArray imagePoints,
	InputArray cameraMatrix,
	InputArray distCoeffs,
	OutputArray rvec,
	OutputArray tvec,
	bool useExtrinsicGuess = false,
	int iterationsCount = 100,
	float reprojectionError = 8f,
	double confidence = 0.99,
	OutputArray inliers = null,
	SolvePnPFlags flags = SolvePnPFlags.Iterative
)

Public Shared Sub SolvePnPRansac ( 
	objectPoints As InputArray,
	imagePoints As InputArray,
	cameraMatrix As InputArray,
	distCoeffs As InputArray,
	rvec As OutputArray,
	tvec As OutputArray,
	Optional useExtrinsicGuess As Boolean = false,
	Optional iterationsCount As Integer = 100,
	Optional reprojectionError As Single = 8F,
	Optional confidence As Double = 0.99,
	Optional inliers As OutputArray = Nothing,
	Optional flags As SolvePnPFlags = SolvePnPFlags.Iterative
)

public:
static void SolvePnPRansac(
	InputArray^ objectPoints, 
	InputArray^ imagePoints, 
	InputArray^ cameraMatrix, 
	InputArray^ distCoeffs, 
	OutputArray^ rvec, 
	OutputArray^ tvec, 
	bool useExtrinsicGuess = false, 
	int iterationsCount = 100, 
	float reprojectionError = 8f, 
	double confidence = 0.99, 
	OutputArray^ inliers = nullptr, 
	SolvePnPFlags flags = SolvePnPFlags::Iterative
)

static member SolvePnPRansac : 
        objectPoints : InputArray * 
        imagePoints : InputArray * 
        cameraMatrix : InputArray * 
        distCoeffs : InputArray * 
        rvec : OutputArray * 
        tvec : OutputArray * 
        ?useExtrinsicGuess : bool * 
        ?iterationsCount : int * 
        ?reprojectionError : float32 * 
        ?confidence : float * 
        ?inliers : OutputArray * 
        ?flags : SolvePnPFlags 
(* Defaults:
        let _useExtrinsicGuess = defaultArg useExtrinsicGuess false
        let _iterationsCount = defaultArg iterationsCount 100
        let _reprojectionError = defaultArg reprojectionError 8f
        let _confidence = defaultArg confidence 0.99
        let _inliers = defaultArg inliers null
        let _flags = defaultArg flags SolvePnPFlags.Iterative
*)
-> unit

Parameters

objectPoints: Type: OpenCvSharpInputArray
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: OpenCvSharpInputArray
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: OpenCvSharpInputArray
Input 3x3 camera matrix
distCoeffs: Type: OpenCvSharpInputArray
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: OpenCvSharpOutputArray
Output rotation vector that, together with tvec , brings points from the model coordinate system to the camera coordinate system.
tvec: Type: OpenCvSharpOutputArray
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.
iterationsCount (Optional): Type: SystemInt32
Number of iterations.
reprojectionError (Optional): Type: SystemSingle
Inlier threshold value used by the RANSAC procedure. The parameter value is the maximum allowed distance between the observed and computed point projections to consider it an inlier.
confidence (Optional): Type: SystemDouble
The probability that the algorithm produces a useful result.
inliers (Optional): Type: OpenCvSharpOutputArray
Output vector that contains indices of inliers in objectPoints and imagePoints .
flags (Optional): Type: OpenCvSharpSolvePnPFlags
Method for solving a PnP problem

Reference

Cv2 Class

SolvePnPRansac Overload

OpenCvSharp Namespace

Cv2AddLanguageSpecificTextSet("LSTA4E5F200_0?cpp=::|nu=.");SolvePnPRansac Method (InputArray, InputArray, InputArray, InputArray, OutputArray, OutputArray, Boolean, Int32, Single, Double, OutputArray, SolvePnPFlags)

Parameters

Reference

Cv2SolvePnPRansac Method (InputArray, InputArray, InputArray, InputArray, OutputArray, OutputArray, Boolean, Int32, Single, Double, OutputArray, SolvePnPFlags)