CvInvokeSolvePnPGeneric Method

public static int SolvePnPGeneric(
	IInputArray objectPoints,
	IInputArray imagePoints,
	IInputArray cameraMatrix,
	IInputArray distCoeffs,
	IOutputArrayOfArrays rvecs,
	IOutputArrayOfArrays tvecs,
	bool useExtrinsicGuess = false,
	SolvePnpMethod flags = SolvePnpMethod.Iterative,
	IInputArray rvec = null,
	IInputArray tvec = null,
	IOutputArray reprojectionError = null
)

Public Shared Function SolvePnPGeneric ( 
	objectPoints As IInputArray,
	imagePoints As IInputArray,
	cameraMatrix As IInputArray,
	distCoeffs As IInputArray,
	rvecs As IOutputArrayOfArrays,
	tvecs As IOutputArrayOfArrays,
	Optional useExtrinsicGuess As Boolean = false,
	Optional flags As SolvePnpMethod = SolvePnpMethod.Iterative,
	Optional rvec As IInputArray = Nothing,
	Optional tvec As IInputArray = Nothing,
	Optional reprojectionError As IOutputArray = Nothing
) As Integer

public:
static int SolvePnPGeneric(
	IInputArray^ objectPoints, 
	IInputArray^ imagePoints, 
	IInputArray^ cameraMatrix, 
	IInputArray^ distCoeffs, 
	IOutputArrayOfArrays^ rvecs, 
	IOutputArrayOfArrays^ tvecs, 
	bool useExtrinsicGuess = false, 
	SolvePnpMethod flags = SolvePnpMethod::Iterative, 
	IInputArray^ rvec = nullptr, 
	IInputArray^ tvec = nullptr, 
	IOutputArray^ reprojectionError = nullptr
)

static member SolvePnPGeneric : 
        objectPoints : IInputArray * 
        imagePoints : IInputArray * 
        cameraMatrix : IInputArray * 
        distCoeffs : IInputArray * 
        rvecs : IOutputArrayOfArrays * 
        tvecs : IOutputArrayOfArrays * 
        ?useExtrinsicGuess : bool * 
        ?flags : SolvePnpMethod * 
        ?rvec : IInputArray * 
        ?tvec : IInputArray * 
        ?reprojectionError : IOutputArray 
(* Defaults:
        let _useExtrinsicGuess = defaultArg useExtrinsicGuess false
        let _flags = defaultArg flags SolvePnpMethod.Iterative
        let _rvec = defaultArg rvec null
        let _tvec = defaultArg tvec null
        let _reprojectionError = defaultArg reprojectionError null
*)
-> int 

Parameters

objectPoints

Type: Emgu.CVIInputArray
Array of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. VectorOfPoint3f can also be passed here.

imagePoints

Type: Emgu.CVIInputArray
Array of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. VectorOfPoint2f can also be 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
Vector of output rotation vectors (see Rodrigues ) that, together with tvecs, brings points from the model coordinate system to the camera coordinate system.

tvecs

Type: Emgu.CVIOutputArrayOfArrays
Vector of output translation vectors.

useExtrinsicGuess (Optional)

Type: SystemBoolean
Parameter used for SOLVEPNP_ITERATIVE. 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.

flags (Optional)

Type: Emgu.CV.CvEnumSolvePnpMethod
Method for solving a PnP problem

rvec (Optional)

Type: Emgu.CVIInputArray
Rotation vector used to initialize an iterative PnP refinement algorithm, when flag is SOLVEPNP_ITERATIVE and useExtrinsicGuess is set to true.

tvec (Optional)

Type: Emgu.CVIInputArray
Translation vector used to initialize an iterative PnP refinement algorithm, when flag is SOLVEPNP_ITERATIVE and useExtrinsicGuess is set to true.

reprojectionError (Optional)

Type: Emgu.CVIOutputArray
Optional vector of reprojection error, that is the RMS error between the input image points and the 3D object points projected with the estimated pose.

Return Value

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

Reference