Function opencv::calib3d::solve_p3p

pub fn solve_p3p(
    object_points: &dyn ToInputArray, 
    image_points: &dyn ToInputArray, 
    camera_matrix: &dyn ToInputArray, 
    dist_coeffs: &dyn ToInputArray, 
    rvecs: &mut dyn ToOutputArray, 
    tvecs: &mut dyn ToOutputArray, 
    flags: i32
) -> Result<i32>

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

Parameters

• objectPoints: Array of object points in the object coordinate space, 3x3 1-channel or 1x3/3x1 3-channel. vector<Point3f> can be also passed here.
• imagePoints: Array of corresponding image points, 3x2 1-channel or 1x3/3x1 2-channel. vector<Point2f> can be also passed here.
• cameraMatrix: Input camera matrix .
• distCoeffs: Input vector of distortion coefficients of 4, 5, 8, 12 or 14 elements. If the vector is NULL/empty, the zero distortion coefficients are assumed.
• rvecs: Output rotation vectors (see @ref Rodrigues ) that, together with tvecs, brings points from the model coordinate system to the camera coordinate system. A P3P problem has up to 4 solutions.
• tvecs: Output translation vectors.
• flags: Method for solving a P3P problem:
• SOLVEPNP_P3P Method is based on the paper of X.S. Gao, X.-R. Hou, J. Tang, H.-F. Chang "Complete Solution Classification for the Perspective-Three-Point Problem" (gao2003complete).
• SOLVEPNP_AP3P Method is based on the paper of T. Ke and S. Roumeliotis. "An Efficient Algebraic Solution to the Perspective-Three-Point Problem" (Ke17).

The function estimates the object pose given 3 object points, their corresponding image projections, as well as the camera matrix and the distortion coefficients.

Note: The solutions are sorted by reprojection errors (lowest to highest).