Tran Thu Do's profile - activity

I'm writing a program in MFC, With image points extracted and object points. There are outliers in my dataset so I tried to use solvePnPRansac, but it seems like that solvePnpRansac does not work with MFC. It's often gives reulst like 0,0,0 for tvec and 0, 0, 0 for rvec. Is there any problem with TBB in MFC, I'm not familiar with TBB.

Then I exported those object points and key points to used in Console Win 32 program, solvePnPRansac can run quite good, it's give some result like below.

I have projected my object by using these results, it shown that good estimation.

Number of image points = 35 {368.055603, 180.421982} {586.853333, 193.381836} {222.527008, 340.335419} {344.344452, 356.454651} {303.019745, 385.765259} {235.726852, 139.869263} {403.424835, 173.470184} {403.624207, 277.317047} {123.830971, 393.412201} {206.152893, 429.046356} {461.696777, 441.017456} {617.832153, 101.819344} {304.148560, 283.815674} {353.554688, 316.850647} {557.085510, 418.862457} {580.698730, 33.114868} {429.282990, 164.096451} {339.272736, 266.181824} {87.333183, 312.554230} {376.590271, 400.775055} {311.038910, 417.912354} {230.025192, 148.204193} {59.594528, 170.543869} {259.906799, 172.188354} {309.238892, 174.439407} {321.317657, 329.682465} {296.615082, 351.149933} {300.192810, 419.719116} {292.833862, 221.428955} {383.557587, 389.927094} {328.559143, 401.851501} {491.780334, 146.416183} {364.525665, 205.480118} {332.156860, 281.921570} {26.412949, 177.243820}

Number of object points = 35 {-1.524305, 5.097010, -1.513126} {-0.205345, 7.159097, -1.338422} {-0.521874, 5.536956, -1.173512} {-1.024615, 4.514536, -1.199751} {0.046034, 5.216093, -0.897033} {-0.273526, 8.800567, -1.680416} {-1.924052, 7.147689, -3.268650} {-2.372701, 6.348424, -3.237044} {-0.631204, 5.558338, -1.239867} {-1.144218, 6.914869, -1.694352} {-3.522914, 2.134678, -5.480376} {0.427555, 6.044102, -0.891978} {-0.173244, 10.657322, -1.967906} {0.216710, 6.382519, -1.042303} {-3.612044, 1.990245, -3.224142} {-2.212616, 2.047247, -1.251594} {4.109227, 8.541931, 0.185194} {0.599921, 7.605768, -1.087724} {-0.673080, 0.450403, -3.079101} {-0.061304, 4.008249, -0.712714} {-1.714100, 4.904144, -1.568202} {-4.592388, 2.762208, -2.701869} {-4.545120, 2.802575, -2.339462} {-0.173244, 10.657322, -1.967906} {0.768651, 10.002251, -1.450841} {-0.523157, 6.569651, -1.363981} {-1.339454, 6.549375, -1.693551} {-1.955496, 5.077782, -1.698227} {0.430820, 2.028424, -0.165817} {0.294280, 4.128754, -0.590204} {-1.094725, 4.876115, -1.304759} {-2.505786, 6.503739, -2.826586} {36.784290, -5.361131, -8.477034} {0.399929, 7.288167, -1.123692} {-1.955496, 5.077782, -1.698227}

TIME TO SOLVE ITERACTIVE problem = 175.861488 ms; number of inliers = 10 T = [-2.900820,6.585411,14.799540]; R =[1.215027, -0.731107, -2.096761] R = -0.400229, 0 ... (more)

I also want to use the solvePnP, because I dont' have the exact matches, so I am trying to use the solvePnpRansac, however the result often returns 0,0,0 or very large with ITERATIVE method for both rotation and translation. I don't know what's wrong with my code.

Sometimes the results change frequently eventhough I do not move my object. I have try to

ITERATIVE RESULT

TIME TO SOLVE PNP problem = 132.189926 ms
T = [-2795246.726793,-2795234.084584,2795231.968800]; R =[-0.788772, -0.799549, -2.217896]
Number of matches = 40; Number of current keypoints = 323

TIME TO SOLVE PNP problem = 131.272075 ms
T = [-2904305.899281,-2904293.059600,2904290.988266]; R =[3.005587, 1.634340, 0.464340]Number of matches = 40; Number of current keypoints = 301
TIME TO SOLVE PNP problem = 144.615681 ms
T = [-2647890.943078,-2647887.363847,2647881.109238];
 R =[-0.331646, -0.027772, -0.594331]
Number of matches = 40; 
Number of current keypoints = 319

P3P RESULT

TIME TO SOLVE PNP problem = 9.689402 ms
T = [0.000000,0.000000,0.000000]; R =[0.000000, 0.000000, 0.000000]Number of matches = 40; Number of current keypoints = 298
TIME TO SOLVE PNP problem = 10.904786 ms
T = [0.000000,0.000000,0.000000]; R =[0.000000, 0.000000, 0.000000]Number of matches = 40; Number of current keypoints = 322
TIME TO SOLVE PNP problem = 10.295081 ms
T = [0.000000,0.000000,0.000000]; R =[0.000000, 0.000000, 0.000000]Number of matches = 40; Number of current keypoints = 320
TIME TO SOLVE PNP problem = 11.750907 ms
T = [4.711286,0.045493,-1.881079]; R =[1.717873, -1.533295, 0.630865]Number of matches = 40; Number of current keypoints = 322
TIME TO SOLVE PNP problem = 10.207615 ms
T = [0.000000,0.000000,0.000000]; R =[0.000000, 0.000000, 0.000000]Number of matches = 40; Number of current keypoints = 327
TIME TO SOLVE PNP problem = 11.458132 ms
T = [0.000000,0.000000,0.000000]; R =[0.000000, 0.000000, 0.000000]Number of matches = 40; Number of current keypoints = 310
TIME TO SOLVE PNP problem = 11.312476 ms
T = [0.000000,0.000000,0.000000]; R =[0.000000, 0.000000, 0.000000]Number of matches = 40; Number of current keypoints = 319
TIME TO SOLVE PNP problem = 10.350709 ms
T = [0.000000,0.000000,0.000000]; R =[0.000000, 0.000000, 0.000000]Number of matches = 40; Number of current keypoints = 312
TIME TO SOLVE PNP problem = 8.923428 ms
T = [0.000000,0.000000,0.000000]; R =[0.000000, 0.000000, 0.000000]Number of matches = 40; Number of current keypoints = 315
TIME TO SOLVE PNP problem = 14.019550 ms
T = [0.000000,0.000000,0.000000]; R =[0.000000, 0.000000, 0.000000]Number of matches = 40; Number of current keypoints = 318
TIME TO SOLVE PNP problem = 9.903494 ms
T = [-0.468120,4.181766,2.396880]; R =[-0.820046, 0.223524, -2.960140]Number of matches = 40 ...