OpenCV Q&A Forum - RSS feedhttp://answers.opencv.org/questions/OpenCV answersenCopyright <a href="http://www.opencv.org">OpenCV foundation</a>, 2012-2018.Tue, 21 Mar 2017 17:31:25 -0500Will the distribution of 3D coordinates affect the accuracy of solvePnP?http://answers.opencv.org/question/134351/will-the-distribution-of-3d-coordinates-affect-the-accuracy-of-solvepnp/I am still trying to figure out a proper way to use solvePnP(). Can someone tell me what if input 3D coordinates for solvePnP() is not regular distributed, will the returned pose estimation still accurate? The experiment I did is assigning 3D coordinates to randomly distributed feature points on a poster and take a sequence of pictures while I move straight toward the poster. The resulted camera's XYZ coordinates are a bit jumpy.
For the record, I did conduct the following operations to derive camera pose.
Mat R;
Rodrigues(rvec, R);
R = R.t();
tvec = -R*tvec;
By the way, the 3D coordinates values that I assigned are a bit high. Some values are range over couple thousand while some are couple hundreds.
Thu, 16 Mar 2017 08:42:36 -0500http://answers.opencv.org/question/134351/will-the-distribution-of-3d-coordinates-affect-the-accuracy-of-solvepnp/Comment by Tetragramm for <p>I am still trying to figure out a proper way to use solvePnP(). Can someone tell me what if input 3D coordinates for solvePnP() is not regular distributed, will the returned pose estimation still accurate? The experiment I did is assigning 3D coordinates to randomly distributed feature points on a poster and take a sequence of pictures while I move straight toward the poster. The resulted camera's XYZ coordinates are a bit jumpy.
For the record, I did conduct the following operations to derive camera pose.
Mat R;
Rodrigues(rvec, R);
R = R.t();
tvec = -R*tvec;
By the way, the 3D coordinates values that I assigned are a bit high. Some values are range over couple thousand while some are couple hundreds.</p>
http://answers.opencv.org/question/134351/will-the-distribution-of-3d-coordinates-affect-the-accuracy-of-solvepnp/?comment=135200#post-id-135200When you say "a bit jumpy" what do you mean? What sort of variation?Tue, 21 Mar 2017 17:31:25 -0500http://answers.opencv.org/question/134351/will-the-distribution-of-3d-coordinates-affect-the-accuracy-of-solvepnp/?comment=135200#post-id-135200