The recomputeModelFromInliers parameter in estimateWorldCameraPose does not work properly.
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When I turn the recomputeModelFromInliers true from the default false, and try to get better model estimation will all the inliers. The result is much worse than the original model. This is due to an error in the section of code for recomputeModelFromInliers. It does not computer a model with all the inliers, but just uses the first 3 inliers for model calculation.
Where can I find a correct function/code that can do recomputeModelFromInliers?
3 Comments
Sahil Jain
on 23 Nov 2021
Hi Jack,
Could you please share the input data to the "estimateWorldCameraPose" function so that the issue can be investigated?
Answers (3)
Sahil Jain
on 10 Dec 2021
Hi Jack
From my understanding of the question, you want the model to be recomputed using all the inliers instead of only three. However, the algorithm has been implemented based on the following reference which uses only three inliers:
Xiao-Shan Gao, Xiao-Rong Hou, Jianliang Tang and Hang-Fei Cheng, "Complete solution classification for the perspective-three-point problem," in IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 25, no. 8, pp. 930-943, Aug. 2003, doi: 10.1109/TPAMI.2003.1217599.
You can try to modify the code to use all inliers, but it is not recommended and may not produce the desired result.
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