%SOLVEPNPRANSAC  Finds an object pose from 3D-2D point correspondences using the RANSAC scheme
%
%    [...] = cv.solvePnPRansac(objectPoints, imagePoints, cameraMatrix)
%    [...] = cv.solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs)
%    [...] = cv.solvePnPRansac(..., distCoeffs, 'OptionName', optionValue, ...)
%    [rvec, tvec, inliers] = cv.solvePnPRansac(...)
%
% ## Input
% * __objectPoints__ Array of object points in the object coordinate space,
%        1xNx3/Nx1x3 array, where N is the number of points, or cell array
%        of 3-element vectors can be also passed here.
% * __imagePoints__ Array of corresponding image points, 1xNx2/Nx1x2 array,
%         where N is the number of points, or cell array of 2-element
%         vectors can be also passed here.
% * __cameraMatrix__ Input camera matrix A = [fx,0,cx;0,fy,cy;0,0,1].
% * __distCoeffs__ Input vector of distortion coefficients [k1,k2,p1,p2,k3,
%        k4,k5,k6] of 4, 5, or 8 elements. If the vector is NULL/empty, the
%        zero distortion coefficients are assumed.
%
% ## Output
% * __rvec__ Output rotation vector (see cv.Rodrigues) that, together with
%        tvec , brings points from the model coordinate system to the
%        camera coordinate system.
% * __tvec__ Output translation vector.
% * __inliers__ vector that contains indices of inliers in objectPoints and
%        imagePoints.
%
% ## Options
% * __Rvec__ Initial rvec.
% * __Tvec__ Initial tvec.
% * __UseExtrinsicGuess__ If true (1), the function uses the provided rvec
%        and tvec values as initial approximations of the rotation and
%        translation vectors, respectively, and further optimizes them.
%        default false.
% * __IterationsCount__ Number of iterations. default 100.
% * __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. default 8.0.
% * __MinInliersCount__ Number of inliers. If the algorithm at some stage
%        finds more inliers than minInliersCount , it finishes. default
%        100.
%
% 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
% cv.projectPoints) objectPoints. The use of RANSAC makes the function
% resistant to outliers.
%
% See also cv.solvePnPRansac
%