void solvePnP(InputArray objectPoints, InputArray imagePoints, InputArray cameraMatrix, InputArray distCoeffs, OutputArray rvec, OutputArray tvec, bool useExtrinsicGuess=false, int flags = CV_ITERATIVE)
参数解释
- objectPoints:世界坐标系中的3D点坐标,单位mm
- imagePoints:图像坐标系中点的坐标,单位像素
- cameraMatrix:相机内参矩阵
- distCoeffs:畸变系数
- rvec:旋转矩阵
- tvec:平移矩阵
- useExtrinsicGuess:是否输出平移矩阵和旋转矩阵,默认为false
- flags:SOLVEPNP _ITERATIVE、SOLVEPNP _P3P、SOLVEPNP _EPNP、SOLVEPNP _DLS、- SOLVEPNP _UPNP