Dear Opencv'rs
I am running the "model registration" program of the real_time_pose_etimation sample.
Opencv 4.1.1
Windows 10 Pro, X64
VS 2019, ver 16.3.5
Code: C:\opencv\sources\samples\cpp\tutorial_code\calib3d\real_time_pose_estimation\src
Reproduce the situation:
Add all .h and .cpp files in src folder to a new project (Not main_registration.cpp. FYI main_detection.cpp and main_registration.cpp are two exclude ways to tackle pose estimation). Copy the data folder to project forlder.
Disabled -if you get those- all the compiling warning messages. (Project Properties --> Configuration Properties --> C++ --> Advance --> Disable Specific Warnings: 26451;26812;26495;6294;6201;26439;26812)
Build and Run with the default parser values. No changes to code what so ever. We just need to see it working.
If you get what I do, runtime goes fine when
The application loads the 3D textured model in YAML file format
From the scene -recorded video-, the ORB features and descriptors are detected and extracted.
cv::FlannBasedMatcher & cv::flann::GenericIndex match model-scene descriptors.
But it fails, I beleive, at:
- Using these matches and cv::solvePnPRansac the R and t of the camera are computed. I GET THIS:
OpenCV(4.1.1) Error: Unspecified error (> DLT algorithm needs at least 6 points for pose estimation from 3D-2D point correspondences. (expected: 'count >= 6'), where
'count' is 5must be greater than or equal to '6' is 6 ) in void __cdecl cvFindExtrinsicCameraParams2(const struct CvMat *,const struct CvMat *,const struct CvMat *,const struct CvMat *,struct CvMat *,struct CvMat *,int), file C:\build\master_winpack-build-win64-vc15\opencv\modules\calib3d\src\calibration.cpp, line 1171
What should happen last:
A KalmanFilter is applied in order to reject bad poses.
The 6th step is set the estimated rotation-translation matrix and draw the found pose.
Thanks for taking the time and share your feedback.
fabian