solvePnPRefineVVS function

void solvePnPRefineVVS(
  1. InputArray objectPoints,
  2. InputArray imagePoints,
  3. InputArray cameraMatrix,
  4. InputArray distCoeffs,
  5. InputOutputArray rvec,
  6. InputOutputArray tvec, {
  7. TermCriteria? criteria,
  8. double VVSlambda = 1.0,
})

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.

https://docs.opencv.org/4.11.0/d9/d0c/group__calib3d.html#ga17491c0282e4af874f6206a9166774a5

Implementation

void solvePnPRefineVVS(
  InputArray objectPoints,
  InputArray imagePoints,
  InputArray cameraMatrix,
  InputArray distCoeffs,
  InputOutputArray rvec,
  InputOutputArray tvec, {
  TermCriteria? criteria,
  double VVSlambda = 1.0,
}) {
  criteria ??= TermCriteria(TERM_EPS + TERM_COUNT, 20, 1e-7);
  return cvRun(
    () => ccalib3d.cv_solvePnPRefineVVS(
      objectPoints.ref,
      imagePoints.ref,
      cameraMatrix.ref,
      distCoeffs.ref,
      rvec.ref,
      tvec.ref,
      criteria!.ref,
      VVSlambda,
      ffi.nullptr,
    ),
  );
}