Computes projections of 3D points to the image plane given intrinsic and extrinsic camera parameters. Optionally, the function computes jacobians - matrices of partial derivatives of image points as functions of all the input parameters w.r.t. the particular parameters, intrinsic and/or extrinsic. The jacobians are used during the global optimization in cvCalibrateCamera2 and cvFindExtrinsicCameraParams2. The function itself is also used to compute back-projection error for with current intrinsic and extrinsic parameters. Note, that with intrinsic and/or extrinsic parameters set to special values, the function can be used to compute just extrinsic transformation or just intrinsic transformation (i.e. distortion of a sparse set of points).

Namespace: Emgu.CV
Assembly: Emgu.CV (in Emgu.CV.dll) Version: 2.2.1.1150 (2.2.1.1150)

Syntax

         
 C#  Visual Basic  Visual C++ 
public static void cvProjectPoints2(
	IntPtr objectPoints,
	IntPtr rotationVector,
	IntPtr translationVector,
	IntPtr intrinsicMatrix,
	IntPtr distortionCoeffs,
	IntPtr imagePoints,
	IntPtr dpdrot,
	IntPtr dpdt,
	IntPtr dpdf,
	IntPtr dpdc,
	IntPtr dpddist,
	double aspectRatio
)
Public Shared Sub cvProjectPoints2 ( _
	objectPoints As IntPtr, _
	rotationVector As IntPtr, _
	translationVector As IntPtr, _
	intrinsicMatrix As IntPtr, _
	distortionCoeffs As IntPtr, _
	imagePoints As IntPtr, _
	dpdrot As IntPtr, _
	dpdt As IntPtr, _
	dpdf As IntPtr, _
	dpdc As IntPtr, _
	dpddist As IntPtr, _
	aspectRatio As Double _
)
public:
static void cvProjectPoints2(
	IntPtr objectPoints, 
	IntPtr rotationVector, 
	IntPtr translationVector, 
	IntPtr intrinsicMatrix, 
	IntPtr distortionCoeffs, 
	IntPtr imagePoints, 
	IntPtr dpdrot, 
	IntPtr dpdt, 
	IntPtr dpdf, 
	IntPtr dpdc, 
	IntPtr dpddist, 
	double aspectRatio
)

Parameters

objectPoints
IntPtr
The array of object points, 3xN or Nx3, where N is the number of points in the view
rotationVector
IntPtr
The rotation vector, 1x3 or 3x1
translationVector
IntPtr
The translation vector, 1x3 or 3x1
intrinsicMatrix
IntPtr
The camera matrix (A) [fx 0 cx; 0 fy cy; 0 0 1].
distortionCoeffs
IntPtr
The vector of distortion coefficients, 4x1 or 1x4 [k1, k2, p1, p2]. If it is IntPtr.Zero, all distortion coefficients are considered 0's
imagePoints
IntPtr
The output array of image points, 2xN or Nx2, where N is the total number of points in the view
dpdrot
IntPtr
Optional Nx3 matrix of derivatives of image points with respect to components of the rotation vector
dpdt
IntPtr
Optional Nx3 matrix of derivatives of image points w.r.t. components of the translation vector
dpdf
IntPtr
Optional Nx2 matrix of derivatives of image points w.r.t. fx and fy
dpdc
IntPtr
Optional Nx2 matrix of derivatives of image points w.r.t. cx and cy
dpddist
IntPtr
Optional Nx4 matrix of derivatives of image points w.r.t. distortion coefficients
aspectRatio
Double
Aspect ratio

See Also