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CvInvokeSolvePnPRansac Method
http://www.emgu.com
Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.

Namespace: Emgu.CV
Assembly: Emgu.CV.World (in Emgu.CV.World.dll) Version: 3.2.0.2682 (3.2.0.2682)
Syntax
public static bool SolvePnPRansac(
	IInputArray objectPoints,
	IInputArray imagePoints,
	IInputArray cameraMatrix,
	IInputArray distCoeffs,
	IOutputArray rvec,
	IOutputArray tvec,
	bool useExtrinsicGuess,
	int iterationsCount,
	float reprojectionError,
	double confident,
	IOutputArray inliers,
	SolvePnpMethod flags
)

Parameters

objectPoints
Type: Emgu.CVIInputArray
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. VectorOfPoint3D32f can be also passed here.
imagePoints
Type: Emgu.CVIInputArray
Array of corresponding image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. VectorOfPointF can be also passed here.
cameraMatrix
Type: Emgu.CVIInputArray
Input camera matrix
distCoeffs
Type: Emgu.CVIInputArray
Input vector of distortion coefficients of 4, 5, 8 or 12 elements. If the vector is null/empty, the zero distortion coefficients are assumed.
rvec
Type: Emgu.CVIOutputArray
Output rotation vector
tvec
Type: Emgu.CVIOutputArray
Output translation vector.
useExtrinsicGuess
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
Type: SystemInt32
Number of iterations.
reprojectionError
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.
confident
Type: SystemDouble
The probability that the algorithm produces a useful result.
inliers
Type: Emgu.CVIOutputArray
Output vector that contains indices of inliers in objectPoints and imagePoints .
flags
Type: Emgu.CV.CvEnumSolvePnpMethod
Method for solving a PnP problem

Return Value

Type: Boolean

[Missing <returns> documentation for "M:Emgu.CV.CvInvoke.SolvePnPRansac(Emgu.CV.IInputArray,Emgu.CV.IInputArray,Emgu.CV.IInputArray,Emgu.CV.IInputArray,Emgu.CV.IOutputArray,Emgu.CV.IOutputArray,System.Boolean,System.Int32,System.Single,System.Double,Emgu.CV.IOutputArray,Emgu.CV.CvEnum.SolvePnpMethod)"]

See Also