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public static SolvePnP ( IEnumerable |
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| objectPoints | IEnumerable |
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 | IEnumerable |
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 | double | Input camera matrix |
| distCoeffs | IEnumerable |
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 | double | Output rotation vector that, together with tvec , brings points from the model coordinate system to the /// camera coordinate system. |
| tvec | double | Output translation vector. |
| useExtrinsicGuess | bool | 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 | SolvePnPFlags | Method for solving a PnP problem: |
| return | void | |
public static void SolvePnP(
IEnumerable<Point3f> objectPoints,
IEnumerable<Point2f> imagePoints,
double[,] cameraMatrix,
IEnumerable<double> distCoeffs,
out double[] rvec, out double[] tvec,
bool useExtrinsicGuess = false,
SolvePnPFlags flags = SolvePnPFlags.Iterative)
{
if (objectPoints == null)
throw new ArgumentNullException(nameof(objectPoints));
if (imagePoints == null)
throw new ArgumentNullException(nameof(imagePoints));
if (cameraMatrix == null)
throw new ArgumentNullException(nameof(cameraMatrix));
if (cameraMatrix.GetLength(0) != 3 || cameraMatrix.GetLength(1) != 3)
throw new ArgumentException("");
Point3f[] objectPointsArray = EnumerableEx.ToArray(objectPoints);
Point2f[] imagePointsArray = EnumerableEx.ToArray(imagePoints);
double[] distCoeffsArray = EnumerableEx.ToArray(distCoeffs);
int distCoeffsLength = (distCoeffs == null) ? 0 : distCoeffsArray.Length;
rvec = new double[3];
tvec = new double[3];
NativeMethods.calib3d_solvePnP_vector(
objectPointsArray, objectPointsArray.Length,
imagePointsArray, imagePointsArray.Length,
cameraMatrix, distCoeffsArray, distCoeffsLength,
rvec, tvec, useExtrinsicGuess ? 1 : 0, (int)flags);
}
#endregion| Cv2::SolvePnP ( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess = false, SolvePnPFlags flags = SolvePnPFlags.Iterative ) : void |
