solvePnP function

(bool, Mat, Mat) solvePnP(
  1. InputArray objectPoints,
  2. InputArray imagePoints,
  3. InputArray cameraMatrix,
  4. InputArray distCoeffs, {
  5. OutputArray? rvec,
  6. OutputArray? tvec,
  7. bool useExtrinsicGuess = false,
  8. int flags = SOLVEPNP_ITERATIVE,
})

Finds an object pose from 3D-2D point correspondences.

https://docs.opencv.org/4.11.0/d9/d0c/group__calib3d.html#ga549c2075fac14829ff4a58bc931c033d

Implementation

(bool rval, Mat rvec, Mat tvec) solvePnP(
  InputArray objectPoints,
  InputArray imagePoints,
  InputArray cameraMatrix,
  InputArray distCoeffs, {
  OutputArray? rvec,
  OutputArray? tvec,
  bool useExtrinsicGuess = false,
  int flags = SOLVEPNP_ITERATIVE,
}) {
  rvec ??= Mat.empty();
  tvec ??= Mat.empty();
  final prval = calloc<ffi.Bool>();
  cvRun(
    () => ccalib3d.cv_solvePnP(
      objectPoints.ref,
      imagePoints.ref,
      cameraMatrix.ref,
      distCoeffs.ref,
      rvec!.ref,
      tvec!.ref,
      useExtrinsicGuess,
      flags,
      prval,
      ffi.nullptr,
    ),
  );
  final rval = prval.value;
  calloc.free(prval);
  return (rval, rvec, tvec);
}