solvePnPRefineLM
import { solvePnPRefineLM } from '@banou/opencv-wasm'Use after await initOpenCV(). See the initialization and named imports guide.
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.
See: calib3d_solvePnP
solvePnPRefineLM(objectPoints: Mat, imagePoints: Mat, cameraMatrix: Mat, distCoeffs: Mat, rvec: Mat, tvec: Mat, criteria: TermCriteria): void;2 available overloads
solvePnPRefineLM(objectPoints: Mat, imagePoints: Mat, cameraMatrix: Mat, distCoeffs: Mat, rvec: Mat, tvec: Mat): void;solvePnPRefineLM(objectPoints: Mat, imagePoints: Mat, cameraMatrix: Mat, distCoeffs: Mat, rvec: Mat, tvec: Mat, criteria: TermCriteria): void;objectPointsArray of object points in the object coordinate space, Nx3 1-channel or 1xN/Nx1 3-channel, where N is the number of points. vector<Point3d> can also be passed here.
imagePointsArray of corresponding image points, Nx2 1-channel or 1xN/Nx1 2-channel, where N is the number of points. vector<Point2d> can also be passed here.
cameraMatrixInput camera intrinsic matrix
\cameramatrix{A}.distCoeffsInput vector of distortion coefficients
\distcoeffs. If the vector is NULL/empty, the zero distortion coefficients are assumed.rvecInput/output value, modified by the native operation. 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.tvecInput/output value, modified by the native operation. Input/Output translation vector. Input values are used as an initial solution.
criteriaCriteria when to stop the Levenberg-Marquard iterative algorithm.
The function refines the object pose given at least 3 object points, their corresponding image projections, an initial solution for the rotation and translation vector, as well as the camera intrinsic matrix and the distortion coefficients. The function minimizes the projection error with respect to the rotation and the translation vectors, according to a Levenberg-Marquardt iterative minimization [Madsen04] [Eade13] process.
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.