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CvInvokeSolvePnPRefineVVS Method
Refine a pose (the translation and the rotation that transform a 3D point expressed in the object coordinate frame to the camera coordinate frame) from a 3D-2D point correspondences and starting from an initial solution.

Namespace:  Emgu.CV
Assembly:  Emgu.CV.World (in Emgu.CV.World.dll) Version: (
public static void SolvePnPRefineVVS(
	IInputArray objectPoints,
	IInputArray imagePoints,
	IInputArray cameraMatrix,
	IInputArray distCoeffs,
	IInputOutputArray rvec,
	IInputOutputArray tvec,
	MCvTermCriteria criteria,
	double VVSlambda


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.
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.
Type: Emgu.CVIInputArray
Input camera matrix A=[[fx,0,0],[0,fy,0][cx,cy,1]].
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.
Type: Emgu.CVIInputOutputArray
Input/Output rotation vector (see Rodrigues ) that, together with tvec, brings points from the model coordinate system to the camera coordinate system. Input values are used as an initial solution.
Type: Emgu.CVIInputOutputArray
Input/Output translation vector. Input values are used as an initial solution.
Type: Emgu.CV.StructureMCvTermCriteria
Criteria when to stop the Levenberg-Marquard iterative algorithm.
Type: SystemDouble
Gain for the virtual visual servoing control law, equivalent to the α gain in the Damped Gauss-Newton formulation.
See Also