Wrong in using solvePnPRansac in opencv 3.3.0.
When I use solvePnPRansac function to do pose estimation for KITTI datasets: solvePnPRansac(pts_obj,pts_img,cameraMatrix,Mat(),rvec,tvec,false,100); The rvec and tvec is wrong after a while. But I use solvePnPRansac function in opencv 3.2.0, it works well.
Can you add the data when it failed to be able to reproduce the issue?
I download from here: http://www.cvlibs.net/datasets/kitti/.... I use the sequences 00. Meanwhile,I use SIFT and FLANN.
The easiest thing to debug would be to upload somewhere the values of
pts_obj
,pts_img
andcameraMatrix
when it fails in 3.3 and works in 3.2.Also, can you show the values
rvec
andtvec
in 3.3 and 3.2?The only difference in
solvePnPRansac
between 3.3 and 3.2 should be that in 3.3 the final camera pose is estimated using all the inliers + some minor changes as described here.I am meeting the same problem, version3.3 produces the wrong results, how to solve it?
@dzywater, please do not post an answer here, if you have a question or comment, thank you.