solvePnP: is not handling all degenerated cases (Bug #3984)

Added by Alexander Duda over 10 years ago. Updated over 9 years ago.

Status:New Start date:2014-10-29
Priority:Normal Due date:
Assignee:- % Done:

0%
Category:calibration, 3d
Target version:-
Affected version:2.4.9 (latest release) Operating System:Any
Difficulty: HW Platform:Any
Pull request:

Description

Depending on the point configuration and the selected method solvePnP returns wrong solutions
(deviation > 1-e3)

1000 Tests with four fixed scene points (A;B,C,D) and random camera positions

case 1 right angle between ABC; all scene points are coplanar:
   SOLVEPNP_ITERATIVE  - 0    wrong solutions
   SOLVEPNP_P3P        - 445  wrong solutions
   SOLVEPNP_EPNP       - 0    wrong solutions
   SOLVEPNP_DLS        - 4    wrong solutions
   SOLVEPNP_UPNP       - 1000 wrong solutions
case 2 right angle between ABC (D is not coplanar to ABC);
   SOLVEPNP_ITERATIVE  - 634  wrong solutions
   SOLVEPNP_P3P        - 397  wrong solutions
   SOLVEPNP_EPNP       - 884  wrong solutions
   SOLVEPNP_DLS        - 0    wrong solutions
   SOLVEPNP_UPNP       - 1000 wrong solutions
case 3 (general configuration)
   SOLVEPNP_ITERATIVE  - 701  wrong solutions
   SOLVEPNP_P3P        - 0    wrong solutions
   SOLVEPNP_EPNP       - 613  wrong solutions
   SOLVEPNP_DLS        - 0    wrong solutions
   SOLVEPNP_UPNP       - 1000 wrong solutions
case 4 (general configuration + 2 additional points)
   SOLVEPNP_ITERATIVE  - 0    wrong solutions
   SOLVEPNP_P3P        - 
   SOLVEPNP_EPNP       - 0    wrong solutions
   SOLVEPNP_DLS        - 0    wrong solutions
   SOLVEPNP_UPNP       - 6    wrong solutions

The main problem might be a lack of documentation because P3P is only handling the main case and should only be used in combination with RANSAC and environments having only a few right angles.

Associated revisions

Revision 24dea1c6
Added by Vadim Pisarevsky almost 10 years ago

Merge pull request #3984 from LaurentBerger:ExampleCppORB

History

#1
Updated by Maksim Shabunin over 9 years ago

Issue has been transferred to GitHub: https://github.com/Itseez/opencv/issues/4854

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