CameraCalibration.SolvePnP Method

CameraCalibrationSolvePnP Method

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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: 3.3.0.2824 (3.3.0.2824)

Syntax

C++

Copy

public static ExtrinsicCameraParameters SolvePnP(
	MCvPoint3D32f[] objectPoints,
	PointF[] imagePoints,
	IntrinsicCameraParameters intrin,
	SolvePnpMethod method = SolvePnpMethod.Iterative
)

Public Shared Function SolvePnP ( 
	objectPoints As MCvPoint3D32f(),
	imagePoints As PointF(),
	intrin As IntrinsicCameraParameters,
	Optional method As SolvePnpMethod = SolvePnpMethod.Iterative
) As ExtrinsicCameraParameters

public:
static ExtrinsicCameraParameters^ SolvePnP(
	array<MCvPoint3D32f>^ objectPoints, 
	array<PointF>^ imagePoints, 
	IntrinsicCameraParameters^ intrin, 
	SolvePnpMethod method = SolvePnpMethod::Iterative
)

static member SolvePnP : 
        objectPoints : MCvPoint3D32f[] * 
        imagePoints : PointF[] * 
        intrin : IntrinsicCameraParameters * 
        ?method : SolvePnpMethod 
(* Defaults:
        let _method = defaultArg method SolvePnpMethod.Iterative
*)
-> ExtrinsicCameraParameters

Parameters

objectPoints: Type: Emgu.CV.StructureMCvPoint3D32f
The array of object points
imagePoints: Type: System.DrawingPointF
The array of corresponding image points
intrin: Type: Emgu.CVIntrinsicCameraParameters
The intrinsic parameters
method (Optional): Type: Emgu.CV.CvEnumSolvePnpMethod
Method for solving a PnP problem

Return Value

Type: ExtrinsicCameraParameters
The extrinsic parameters

Reference

CameraCalibration Class

Emgu.CV Namespace