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# Camera Calibration and 3D Reconstruction

## cuda::solvePnPRansac

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

C++:`` void `cuda::``solvePnPRansac`(const Mat& object, const Mat& image, const Mat& camera_mat, const Mat& dist_coef, Mat& rvec, Mat& tvec, bool use_extrinsic_guess=false, int num_iters=100, float max_dist=8.0, int min_inlier_count=100, vector<int>* inliers=NULL)

  Parameters: | object – Single-row matrix of object points. image – Single-row matrix of image points. camera_mat – 3x3 matrix of intrinsic camera parameters. dist_coef – Distortion coefficients. See `undistortPoints()` for details. rvec – Output 3D rotation vector. tvec – Output 3D translation vector. use_extrinsic_guess – Flag to indicate that the function must use `rvec` and `tvec` as an initial transformation guess. It is not supported for now. num_iters – Maximum number of RANSAC iterations. max_dist – Euclidean distance threshold to detect whether point is inlier or not. min_inlier_count – Flag to indicate that the function must stop if greater or equal number of inliers is achieved. It is not supported for now. inliers – Output vector of inlier indices.

See also

`solvePnPRansac()`

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