Bugfix for solvePnPRansac with SOLVEPNP_ITERATIVE#22914
Merged
asmorkalov merged 1 commit intoopencv:3.4from Dec 22, 2022
Merged
Bugfix for solvePnPRansac with SOLVEPNP_ITERATIVE#22914asmorkalov merged 1 commit intoopencv:3.4from
asmorkalov merged 1 commit intoopencv:3.4from
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The current implementation overwrites the result rotation and translation in every iteration. If SOLVEPNP_ITERATIVE was run as a refinement it will start from the incorrect initial transformation thus degrading the final outcome.
Contributor
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@tozanski Could you add simple test or at least example, where the patch significantly improves result? |
vpisarev
approved these changes
Dec 21, 2022
Contributor
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thank you! the whole solvePnPRansac looks broken to me, but your patch makes it a little less buggy :) |
Contributor
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I have not found simple way to test the fix. Merged as is. |
Merged
alalek
reviewed
Dec 24, 2022
Merged
vrabaud
reviewed
Jan 12, 2023
| try | ||
| { | ||
| result = solvePnP(opoints_inliers, ipoints_inliers, cameraMatrix, | ||
| if (flags == SOLVEPNP_ITERATIVE && !useExtrinsicGuess) |
Contributor
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Do we need this condition ? Shouldn't that be for all methods ? Thx
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I think the issue only occurs forSOLVEPNP_ITERATIVE because AFAIK the other methods do not use extrinsic guess which was overwritten in each RANSAC iteration
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The current implementation overwrites the result rotation and translation in every iteration. If SOLVEPNP_ITERATIVE was run as a refinement it will start from the incorrect initial transformation thus degrading the final outcome.
There is not bug report I am aware of nor any test or documentation that references the existence of this bug
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Patch to opencv_extra has the same branch name.