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CvInvokeSolvePnPRansac Method
Finds an object pose from 3D-2D point correspondences using the RANSAC scheme.

Namespace:  Emgu.CV
Assembly:  Emgu.CV.World (in Emgu.CV.World.dll) Version: (
public static bool SolvePnPRansac(
	IInputArray objectPoints,
	IInputArray imagePoints,
	IInputArray cameraMatrix,
	IInputArray distCoeffs,
	IOutputArray rvec,
	IOutputArray tvec,
	bool useExtrinsicGuess = false,
	int iterationsCount = 100,
	float reprojectionError = 8f,
	double confident = 0.99,
	IOutputArray inliers = null,
	SolvePnpMethod flags = SolvePnpMethod.Iterative


Type: Emgu.CVIInputArray
Array of object points in the object coordinate space, 3xN/Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. VectorOfPoint3D32f can be also passed here.
Type: Emgu.CVIInputArray
Array of corresponding image points, 2xN/Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. VectorOfPointF can be also passed here.
Type: Emgu.CVIInputArray
Input camera matrix
Type: Emgu.CVIInputArray
Input vector of distortion coefficients of 4, 5, 8 or 12 elements. If the vector is null/empty, the zero distortion coefficients are assumed.
Type: Emgu.CVIOutputArray
Output rotation vector
Type: Emgu.CVIOutputArray
Output translation vector.
useExtrinsicGuess (Optional)
Type: SystemBoolean
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.
iterationsCount (Optional)
Type: SystemInt32
Number of iterations.
reprojectionError (Optional)
Type: SystemSingle
Inlier threshold value used by the RANSAC procedure. The parameter value is the maximum allowed distance between the observed and computed point projections to consider it an inlier.
confident (Optional)
Type: SystemDouble
The probability that the algorithm produces a useful result.
inliers (Optional)
Type: Emgu.CVIOutputArray
Output vector that contains indices of inliers in objectPoints and imagePoints .
flags (Optional)
Type: Emgu.CV.CvEnumSolvePnpMethod
Method for solving a PnP problem

Return Value

Type: Boolean
True if successful
See Also