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cvSolvePnPRefineVVS

Basic

Module: OpenCV

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.

Name Type Description
Input value inObjectPoints Point3DArrayArray
Input value inImagePoints Point2DArrayArray
Input value inCameraMatrix Matrix Optional initial camera matrix, required for inFixPrincipalPoint and inFixAspectRatio.
Input value inDistCoeffs Matrix Coefficients of distortion
Input value inMaxCount Integer*
Input value inMaxEps Real*
Input value inVVSlambda Double* Gain for the virtual visual servoing control law, equivalent to the alpha gain in the Damped Gauss-Newton formulation.
Output value outRVecs Vector3DArray Array with values of rotations for each points set
Output value outTVecs Vector3DArray Array with values of translations for each points set

Errors

This filter can throw an exception to report error. Read how to deal with errors in Error Handling.

List of possible exceptions:

Error type Description
DomainError Inconsistent sizes of inImagePoints and inObjectPoints in cvSolvePnPRefineVVS.
DomainError Missing inImagePoints or inObjectPoints in cvSolvePnPRefineVVS.

Complexity Level

This filter is available on Basic Complexity Level.