solvePnP with a priori known pitch and roll

asked 2018-09-22 13:59:48 -0500

okalachev gravatar image

updated 2018-09-22 15:02:32 -0500

How to correctly call solvePnP (for estimate the pose of a large ArUco board), if the board orientation (pitch and roll, not yaw) is known (from an IMU)?

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Closest thing you can get is to call solvePnP with SOLVEPNP_ITERATIVE flag and useExtrinsicGuess set to true.

But for this, you need to be close to the solution since PnP is a non-linear problem and to be able to converge to the actual solution. At least you would need to know approximatively the translation.

Eduardo gravatar imageEduardo ( 2018-09-23 08:21:05 -0500 )edit

What if I have no information about translation, and about yaw rotation as well? Can this information help somehow to solvePnP?

Or I should just "replace" roll and pitch, keeping the yaw (it's not so trivial in fact) to make final result correct?

okalachev gravatar imageokalachev ( 2018-09-23 12:07:05 -0500 )edit