CvInvokeSolvePnPRefineVVS Method

public static void SolvePnPRefineVVS(
	IInputArray objectPoints,
	IInputArray imagePoints,
	IInputArray cameraMatrix,
	IInputArray distCoeffs,
	IInputOutputArray rvec,
	IInputOutputArray tvec,
	MCvTermCriteria criteria,
	double VVSlambda
)

Public Shared Sub SolvePnPRefineVVS ( 
	objectPoints As IInputArray,
	imagePoints As IInputArray,
	cameraMatrix As IInputArray,
	distCoeffs As IInputArray,
	rvec As IInputOutputArray,
	tvec As IInputOutputArray,
	criteria As MCvTermCriteria,
	VVSlambda As Double
)

public:
static void SolvePnPRefineVVS(
	IInputArray^ objectPoints, 
	IInputArray^ imagePoints, 
	IInputArray^ cameraMatrix, 
	IInputArray^ distCoeffs, 
	IInputOutputArray^ rvec, 
	IInputOutputArray^ tvec, 
	MCvTermCriteria criteria, 
	double VVSlambda
)

static member SolvePnPRefineVVS : 
        objectPoints : IInputArray * 
        imagePoints : IInputArray * 
        cameraMatrix : IInputArray * 
        distCoeffs : IInputArray * 
        rvec : IInputOutputArray * 
        tvec : IInputOutputArray * 
        criteria : MCvTermCriteria * 
        VVSlambda : float -> unit 

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.

rvec

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.

tvec

Type: Emgu.CVIInputOutputArray
Input/Output translation vector. Input values are used as an initial solution.

criteria

Type: Emgu.CV.StructureMCvTermCriteria
Criteria when to stop the Levenberg-Marquard iterative algorithm.

VVSlambda

Type: SystemDouble
Gain for the virtual visual servoing control law, equivalent to the α gain in the Damped Gauss-Newton formulation.

Reference