From ce07024a44fdd33bea870e9e62ffa435d1a4799d Mon Sep 17 00:00:00 2001 From: edgarriba Date: Tue, 8 Jul 2014 17:09:55 +0200 Subject: [PATCH] Updated solvePnPRansac() --- .../doc/camera_calibration_and_3d_reconstruction.rst | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) diff --git a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst index 36af8362f..b18f25a1e 100644 --- a/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst +++ b/modules/calib3d/doc/camera_calibration_and_3d_reconstruction.rst @@ -596,7 +596,7 @@ solvePnPRansac ------------------ Finds an object pose from 3D-2D point correspondences using the RANSAC scheme. -.. ocv:function:: void solvePnPRansac( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount = 100, float reprojectionError = 8.0, int minInliersCount = 100, OutputArray inliers = noArray(), int flags = ITERATIVE ) +.. ocv:function:: void solvePnPRansac( InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int iterationsCount = 100, float reprojectionError = 8.0, float confidence = 0.99, OutputArray inliers = noArray(), int flags = ITERATIVE ) .. ocv:pyfunction:: cv2.solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, iterationsCount[, reprojectionError[, minInliersCount[, inliers[, flags]]]]]]]]) -> rvec, tvec, inliers @@ -618,15 +618,18 @@ Finds an object pose from 3D-2D point correspondences using the RANSAC scheme. :param reprojectionError: Inlier threshold value used by the RANSAC procedure. The parameter value is the maximum allowed distance between the observed and computed point projections to consider it an inlier. - :param minInliersCount: Number of inliers. If the algorithm at some stage finds more inliers than ``minInliersCount`` , it finishes. + :param confidence: The probability that the algorithm produces a useful result. :param inliers: Output vector that contains indices of inliers in ``objectPoints`` and ``imagePoints`` . :param flags: Method for solving a PnP problem (see :ocv:func:`solvePnP` ). The function estimates an object pose given a set of object points, their corresponding image projections, as well as the camera matrix and the distortion coefficients. This function finds such a pose that minimizes reprojection error, that is, the sum of squared distances between the observed projections ``imagePoints`` and the projected (using -:ocv:func:`projectPoints` ) ``objectPoints``. The use of RANSAC makes the function resistant to outliers. The function is parallelized with the TBB library. +:ocv:func:`projectPoints` ) ``objectPoints``. The use of RANSAC makes the function resistant to outliers. +.. note:: + + * An example of how to use solvePNPRansac for object detection can be found at opencv_source_code/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/ findFundamentalMat