小编jbs*_*ano的帖子

我正在使用函数solvePnP通过视觉标记来估计机器人的姿势.有时我在两个连续帧中得到错误的结果.在文件problem.cpp中,您可以看到其中一个结果.

点集对应于两个连续帧中的相同标记.它们之间的差异很小,solvePnP的结果非常不同,但只在旋转矢量中.翻译矢量还可以.

这种情况每30帧大约发生一次.我用相同的数据测试了CV_ITERATIVE和CV_P3P方法,它们返回相同的结果.

这是问题的一个例子:

#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/core/core.hpp>
#include <iostream>
using namespace std;
using namespace cv;
int main(){
vector<Point2f> points1, points2;

//First point's set
points1.push_back(Point2f(384.3331f,  162.23618f));
points1.push_back(Point2f(385.27521f, 135.21503f));
points1.push_back(Point2f(409.36746f, 139.30315f));
points1.push_back(Point2f(407.43854f, 165.64435f));

//Second point's set
points2.push_back(Point2f(427.64938f, 158.77661f));
points2.push_back(Point2f(428.79471f, 131.60953f));
points2.push_back(Point2f(454.04532f, 134.97353f));
points2.push_back(Point2f(452.23096f, 162.13156f));

//Real object point's set
vector<Point3f> object;
object.push_back(Point3f(-88.0f,88.0f,0));
object.push_back(Point3f(-88.0f,-88.0f,0));
object.push_back(Point3f(88.0f,-88.0f,0));
object.push_back(Point3f(88.0f,88.0f,0));

//Camera matrix
Mat cam_matrix = Mat(3,3,CV_32FC1,Scalar::all(0));
cam_matrix.at<float>(0,0) = 519.0f;
cam_matrix.at<float>(0,2) = 320.0f;
cam_matrix.at<float>(1,1) = 522.0f;
cam_matrix.at<float>(1,2) = 240.0f;
cam_matrix.at<float>(2,2) = 1.0f;

//PnP
Mat rvec1i,rvec2i,tvec1i,tvec2i;
Mat rvec1p,rvec2p,tvec1p,tvec2p;
solvePnP(Mat(object),Mat(points1),cam_matrix,Mat(),rvec1i,tvec1i,false,CV_ITERATIVE); …