Start » Filter Reference » OpenCV » Camera Calibration And 3D Reconstruction » cvSolvePnPRefineVVS

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.