Hello folks,
I am having problems getting a realiable pose estimation using solvePnPRansac. I am using the following parameters for the Ransac:
self.rvec = np.array([-1],dtype=np.float32)
self.tvec = np.array([-1],dtype=np.float32)
self.extrinsicGuess = False
self.RansacIterations = 2000
self.reprojectionError = 100
self.RansacMethod = cv2.CV_P3P
I have 4 World Points and I get 4 image points from the blobs detected. The blobs are well detected, as proved by the following image:
Prolems arise when I project points on the body frame. The circle representes the projected points. Projecting the green blob coords, returns the following:
Projecting the blue blob:
Projecting the left Red blob (upper red):
And finally, projecting the down red blob:
Projecting the center coords, returns this:
I do not have any world coords at the origin.
What can this be, or what can I do, to solve this problem?
Thank you in advance!