How many pictures do I need to prepare for solvePnP and which coordinate frame is used for the object points?

asked 2017-08-12 12:17:03 -0500

hiro gravatar image

I'm using a checkerboard or circles to use solvePnP. In this case, how many pictures do I need to prepare? Only one picture is fine because it includes several points? I saw some articles recommend to use at least 10 pictures for calibrateCamera, but no articles say anything about solvePnP.

Also, I noticed that the latest calibrateCamera in OpenCV3 accepts the object points in the object points' coordinate frame (= checkerboard coordinate frame), and not necessarily be in the world frame. Is it the same for solvePnP? Or do I need to have the exact 3d pose for the different checkerboard images if I change the angle?

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hmm, solvePnP does not involve images at all.

to avoid an obvious X-Y problem, - what is your basic problem, and what are you trying to achieve ?

berak gravatar imageberak ( 2017-08-12 13:36:49 -0500 )edit