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You can generate a set of 3d points and a known transformation. Then use projectPoints with these values and some intrinsic camera matrix. This will create a set of 3d points, a transformation and 2d points that you can use as a test case.

so roughly

projectPoints(3d_points, R, t, camMatrix) -> 2d_points

and

solvePnP(2d_points, 3d_points, camMatrix) -> (R,t)