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CvInvokeSolvePnP Method (MCvPoint3D32f, PointF, IInputArray, IInputArray, IOutputArray, IOutputArray, Boolean, SolvePnpMethod)
Estimates extrinsic camera parameters using known intrinsic parameters and extrinsic parameters for each view. The coordinates of 3D object points and their correspondent 2D projections must be specified. This function also minimizes back-projection error.

Namespace: Emgu.CV
Assembly: Emgu.CV.World (in Emgu.CV.World.dll) Version: (
public static bool SolvePnP(
	MCvPoint3D32f[] objectPoints,
	PointF[] imagePoints,
	IInputArray intrinsicMatrix,
	IInputArray distortionCoeffs,
	IOutputArray rotationVector,
	IOutputArray translationVector,
	bool useExtrinsicGuess = false,
	SolvePnpMethod method = SolvePnpMethod.Iterative


Type: Emgu.CV.StructureMCvPoint3D32f
The array of object points
Type: System.DrawingPointF
The array of corresponding image points
Type: Emgu.CVIInputArray
The camera matrix (A) [fx 0 cx; 0 fy cy; 0 0 1].
Type: Emgu.CVIInputArray
The vector of distortion coefficients, 4x1 or 1x4 [k1, k2, p1, p2]. If it is IntPtr.Zero, all distortion coefficients are considered 0's.
Type: Emgu.CVIOutputArray
The output 3x1 or 1x3 rotation vector (compact representation of a rotation matrix, see cvRodrigues2).
Type: Emgu.CVIOutputArray
The output 3x1 or 1x3 translation vector
useExtrinsicGuess (Optional)
Type: SystemBoolean
Use the input rotation and translation parameters as a guess
method (Optional)
Type: Emgu.CV.CvEnumSolvePnpMethod
Method for solving a PnP problem

Return Value

Type: Boolean
The extrinsic parameters
See Also