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opencv-wasm

solveP3P

geometryfunctionOpenCV 5.0.0
import { solveP3P } from '@banou/opencv-wasm'

Use after await initOpenCV(). See the initialization and named imports guide.

ARGUMENTSobjectPoints, imagePoints, cameraMatrix, distCoeffs
FUNCTIONsolveP3P
RETURN TYPEnumber
Call structure. A void return can still write to destination arguments. The parameter descriptions define inputs, outputs and ownership.

Finds an object pose {}^{c}\mathbf{T}_o from 3 3D-2D point correspondences.

Perspective projection, from object to camera frame{ width=50% }

See: calib3d_solvePnP

Note: The solutions are sorted by reprojection errors (lowest to highest).

solveP3P(objectPoints: Mat, imagePoints: Mat, cameraMatrix: Mat, distCoeffs: Mat, rvecs: MatVector, tvecs: MatVector, flags: number): number;
objectPoints

Array of object points in the object coordinate space, 3x3 1-channel or 1x3/3x1 3-channel. vector<Point3f> can be also passed here.

imagePoints

Array of corresponding image points, 3x2 1-channel or 1x3/3x1 2-channel. vector<Point2f> can be also passed here.

cameraMatrix

Input camera intrinsic matrix \cameramatrix{A} .

distCoeffs

Input vector of distortion coefficients \distcoeffs. If the vector is NULL/empty, the zero distortion coefficients are assumed.

rvecs

Output destination, filled by the native operation. Output rotation vectors (see Rodrigues ) that, together with tvecs, brings points from the model coordinate system to the camera coordinate system. A P3P problem has up to 4 solutions.

tvecs

Output destination, filled by the native operation. Output translation vectors.

flags

Method for solving a P3P problem:

  • SOLVEPNP_P3P Method is based on the paper of Ding, Y., Yang, J., Larsson, V., Olsson, C., & Åstrom, K. "Revisiting the P3P Problem" ([ding2023revisiting]).
  • SOLVEPNP_AP3P Method is based on the paper of T. Ke and S. Roumeliotis. "An Efficient Algebraic Solution to the Perspective-Three-Point Problem" ([Ke17]).

The function estimates the object pose given 3 object points, their corresponding image projections, as well as the camera intrinsic matrix and the distortion coefficients.

Returns

The number result.

Upstream declaration ↗

These signatures describe this package. Upstream documentation can mention optional backends that are absent from this build. Check runtime compatibility before choosing a backend or file format.