solvePnPGeneric function

(int, VecMat, VecMat, Mat) solvePnPGeneric(
  1. InputArray objectPoints,
  2. InputArray imagePoints,
  3. InputArray cameraMatrix,
  4. InputArray distCoeffs, {
  5. VecMat? rvecs,
  6. VecMat? tvecs,
  7. bool useExtrinsicGuess = false,
  8. int flags = SOLVEPNP_ITERATIVE,
  9. InputArray? rvec,
  10. InputArray? tvec,
  11. OutputArray? reprojectionError,
})

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

https://docs.opencv.org/4.11.0/d9/d0c/group__calib3d.html#ga624af8a6641b9bdb487f63f694e8bb90

Implementation

(int rval, VecMat rvecs, VecMat tvecs, Mat reprojectionError) solvePnPGeneric(
  InputArray objectPoints,
  InputArray imagePoints,
  InputArray cameraMatrix,
  InputArray distCoeffs, {
  VecMat? rvecs,
  VecMat? tvecs,
  bool useExtrinsicGuess = false,
  int flags = SOLVEPNP_ITERATIVE,
  InputArray? rvec,
  InputArray? tvec,
  OutputArray? reprojectionError,
}) {
  rvecs ??= VecMat();
  tvecs ??= VecMat();
  rvec ??= Mat.empty();
  tvec ??= Mat.empty();
  reprojectionError ??= Mat.empty();
  final prval = calloc<ffi.Int>();
  cvRun(
    () => ccalib3d.cv_solvePnPGeneric(
      objectPoints.ref,
      imagePoints.ref,
      cameraMatrix.ref,
      distCoeffs.ref,
      rvecs!.ptr,
      tvecs!.ptr,
      useExtrinsicGuess,
      flags,
      rvec!.ref,
      tvec!.ref,
      reprojectionError!.ref,
      prval,
      ffi.nullptr,
    ),
  );
  final rval = prval.value;
  calloc.free(prval);
  return (rval, rvecs, tvecs, reprojectionError);
}