how to match 3d-2d corresspondence for using solvePnP

asked 2018-04-30 01:42:12 -0500

ibi gravatar image

i have problem to match 3d feature from triangulate feature (frame-2,frame-1) and feature2d from current frame to be used in cv2.solvePnP because the feature2d have more feature(in my case 138 after matching with feature from frame-1).

#i triangulate feature frame-2 frame
    points4D=cv2.triangulatePoints(proj1,proj2,points11,points22) 

    points3D= points4D[:3,:]
    points3D=points3D/points3D[3]
    points3D=np.transpose(points3D)

after that i match feature frame-1 and curr frame and get points33 with 138 feature but the point3D only have 98

points33=np.ascontiguousarray(points3[:,:2].reshape(-1,1,2))
ret,rvec,tvec=cv2.solvePnP(points3D,points3,cMtx,disCo,flags=cv2.SOLVEPNP_DLS)

how to match feature3d(points3D) and feature2d(points33) used so i can use SolvePnP ?

edit retag flag offensive close merge delete