Emgu CV Library Documentation
Namespaces
Emgu.CV
CvInvoke Class
CvInvoke Methods
AbsDiff Method
Accumulate Method
AccumulateProduct Method
AccumulateSquare Method
AccumulateWeighted Method
AdaptiveThreshold Method
Add Method
AddWeighted Method
ApplyColorMap Method
ApproxPolyDP Method
ArcLength Method
ArrowedLine Method
BilateralFilter Method
BitwiseAnd Method
BitwiseNot Method
BitwiseOr Method
BitwiseXor Method
BlendLinear Method
Blur Method
BoundingRectangle Method
BoxFilter Method
BoxPoints Method
BuildOpticalFlowPyramid Method
BuildPyramid Method
CalcBackProject Method
CalcCovarMatrix Method
CalcGlobalOrientation Method
CalcHist Method
CalcMotionGradient Method
CalcOpticalFlowFarneback Method
CalcOpticalFlowPyrLK Method
CalibrateCamera Method
CalibrateHandEye Method
CalibrationMatrixValues Method
CamShift Method
Canny Method
CartToPolar Method
CheckLibraryLoaded Method
CheckRange Method
Circle Method
CLAHE Method
ClipLine Method
ColorChange Method
Compare Method
CompareHist Method
Compute Method
ComputeCorrespondEpilines Method
ConnectedComponents Method
ConnectedComponentsWithStats Method
ContourArea Method
ConvertMaps Method
ConvertPointsFromHomogeneous Method
ConvertPointsToHomogeneous Method
ConvertScaleAbs Method
ConvexHull Method
ConvexityDefects Method
CopyMakeBorder Method
CornerHarris Method
CornerSubPix Method
CorrectMatches Method
CountNonZero Method
CreateHanningWindow Method
CvArrToMat Method
cvCheckArr Method
cvClearND Method
cvConvertScale Method
cvCopy Method
cvCreateImage Method
cvCreateImageHeader Method
cvCreateMat Method
cvCreateSparseMat Method
cvGet1D Method
cvGet2D Method
cvGet3D Method
cvGetCol Method
cvGetCols Method
cvGetDiag Method
cvGetImage Method
cvGetImageCOI Method
cvGetImageROI Method
cvGetMat Method
cvGetRawData Method
cvGetReal1D Method
cvGetReal2D Method
cvGetReal3D Method
cvGetRow Method
cvGetRows Method
cvGetSize Method
cvGetSubRect Method
cvInitImageHeader Method
cvInitMatHeader Method
cvInitMatNDHeader Method
cvMaxRect Method
cvRange Method
cvReleaseImage Method
cvReleaseImageHeader Method
cvReleaseMat Method
cvReleaseSparseMat Method
cvResetImageROI Method
cvReshape Method
cvSet2D Method
cvSetData Method
cvSetImageCOI Method
cvSetImageROI Method
cvSetReal1D Method
cvSetReal2D Method
cvSetReal3D Method
cvSetRealND Method
CvtColor Method
Dct Method
Decolor Method
DefaultLoadUnmanagedModules Method
DenoiseTVL1 Method
DestroyAllWindows Method
DestroyWindow Method
DetailEnhance Method
Determinant Method
Dft Method
Dilate Method
DistanceTransform Method
Divide Method
DrawChessboardCorners Method
DrawContours Method
EdgePreservingFilter Method
Eigen Method
Ellipse Method
EMD Method
EqualizeHist Method
Erode Method
ErrorStr Method
EstimateAffine2D Method
EstimateAffine3D Method
EstimateAffinePartial2D Method
Exp Method
ExtractChannel Method
FastNlMeansDenoising Method
FastNlMeansDenoisingColored Method
FillConvexPoly Method
FillPoly Method
Filter2D Method
FilterSpeckles Method
Find4QuadCornerSubpix Method
FindChessboardCorners Method
FindChessboardCornersSB Method
FindCirclesGrid Method
FindContours Method
FindContourTree Method
FindEssentialMat Method
FindFundamentalMat Method
FindHomography Method
FindNonZero Method
FindTransformECC Method
FitEllipse Method
FitEllipseAMS Method
FitEllipseDirect Method
FitLine Method
Flip Method
FloodFill Method
GaussianBlur Method
Gemm Method
GetAffineTransform Method
GetCvStructSizes Method
GetDefaultNewCameraMatrix Method
GetDepthType Method
GetErrMode Method
GetErrStatus Method
GetModuleFormatString Method
GetOptimalDFTSize Method
GetOptimalNewCameraMatrix Method
GetPerspectiveTransform Method
GetRectSubPix Method
GetRotationMatrix2D Method
GetStructuringElement Method
GetTextSize Method
GrabCut Method
GroupRectangles Method
GroupRectanglesMeanshift Method
HConcat Method
HoughCircles Method
HoughLines Method
HoughLinesP Method
HuMoments Method
IlluminationChange Method
Imdecode Method
Imencode Method
Imread Method
Imreadmulti Method
Imshow Method
Imwrite Method
InitCameraMatrix2D Method
InitUndistortRectifyMap Method
Inpaint Method
InRange Method
InsertChannel Method
Integral Method
IntersectConvexConvex Method
Invert Method
InvertAffineTransform Method
IsContourConvex Method
Kmeans Method
Laplacian Method
Line Method
LinearPolar Method
LoadUnmanagedModules Method
Log Method
LogPolar Method
LUT Method
Mahalanobis Method
MakeType Method
MatchShapes Method
MatchTemplate Method
Max Method
Mean Method
MeanShift Method
MeanStdDev Method
MedianBlur Method
Merge Method
Min Method
MinAreaRect Method
MinEnclosingCircle Method
MinEnclosingTriangle Method
MinMaxIdx Method
MinMaxLoc Method
MixChannels Method
Moments Method
MorphologyEx Method
MulSpectrums Method
Multiply Method
MulTransposed Method
NamedWindow Method
Norm Method
Normalize Method
OclFinish Method
OclGetPlatformsSummary Method
OclSetDefaultDevice Method
PatchNaNs Method
PCABackProject Method
PCACompute Method
PCAProject Method
PencilSketch Method
PerspectiveTransform Method
PhaseCorrelate Method
PointPolygonTest Method
PolarToCart Method
Polylines Method
Pow Method
ProjectPoints Method
PSNR Method
PutText Method
PyrDown Method
PyrMeanShiftFiltering Method
PyrUp Method
Randn Method
RandShuffle Method
Randu Method
RawDataToBitmap Method
ReadCloud Method
Rectangle Method
RedirectError Method
Reduce Method
Remap Method
Repeat Method
ReprojectImageTo3D Method
Resize Method
ResizeForFrame Method
Rodrigues Method
Rotate Method
RotatedRectangleIntersection Method
SanityCheck Method
Scharr Method
SeamlessClone Method
SegmentMotion Method
SelectROI Method
SelectROIs Method
SepFilter2D Method
SetErrMode Method
SetErrStatus Method
SetIdentity Method
Sobel Method
Solve Method
SolveCubic Method
SolveLP Method
SolveP3P Method
SolvePnP Method
SolvePnPGeneric Method
SolvePnPRansac Method
SolvePnPRefineLM Method
SolvePnPRefineVVS Method
SolvePoly Method
Sort Method
SortIdx Method
SpatialGradient Method
Split Method
SqrBoxFilter Method
Sqrt Method
StereoCalibrate Method
StereoRectify Method
StereoRectifyUncalibrated Method
Stylization Method
Subtract Method
Sum Method
SVBackSubst Method
SVDecomp Method
Swap Method
TextureFlattening Method
Threshold Method
Trace Method
Transform Method
Transpose Method
TriangulatePoints Method
Undistort Method
UndistortPoints Method
UpdateMotionHistory Method
VConcat Method
WaitKey Method
WarpAffine Method
WarpPerspective Method
Watershed Method
WriteCloud Method
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CvInvokeSolveP3P Method

http://www.emgu.com
Finds an object pose from 3 3D-2D point correspondences.

Namespace:  Emgu.CV
Assembly:  Emgu.CV.World (in Emgu.CV.World.dll) Version: 4.1.1.3497 (4.1.1.3497)
Syntax
Copy
public static int SolveP3P(
	IInputArray objectPoints,
	IInputArray imagePoints,
	IInputArray cameraMatrix,
	IInputArray distCoeffs,
	IOutputArrayOfArrays rvecs,
	IOutputArrayOfArrays tvecs,
	SolvePnpMethod flags
)

Parameters

objectPoints
Type: Emgu.CVIInputArray
Array of object points in the object coordinate space, 3x3 1-channel or 1x3/3x1 3-channel. VectorOfPoint3f can be also passed here.
imagePoints
Type: Emgu.CVIInputArray
Array of corresponding image points, 3x2 1-channel or 1x3/3x1 2-channel. VectorOfPoint2f can be also passed here.
cameraMatrix
Type: Emgu.CVIInputArray
Input camera matrix A=[[fx 0 0] [0 fy 0] [cx cy 1]] .
distCoeffs
Type: Emgu.CVIInputArray
Input vector of distortion coefficients (k1,k2,p1,p2[,k3[,k4,k5,k6[,s1,s2,s3,s4[,τx,τy]]]]) of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
rvecs
Type: Emgu.CVIOutputArrayOfArrays
Output rotation vectors (see Rodrigues ) that, together with tvecs , brings points from the model coordinate system to the camera coordinate system. A P3P problem has up to 4 solutions.
tvecs
Type: Emgu.CVIOutputArrayOfArrays
Output translation vectors.
flags
Type: Emgu.CV.CvEnumSolvePnpMethod
Method for solving a P3P problem: either P3P or AP3P

Return Value

Type: Int32
Number of solutions
See Also