[sfm] loRansac debug for PnP #1004
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simogasp
reviewed
Mar 7, 2021
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yes the resection with LORansac has never been tested extensively with the sfm pipeline, only fo the localization, so it could happen that the least square solution is not physically possible (points behind of the camera). So effectivily it is good to add the fail safe in that case.
I dunno why you changed the DLT to EPnP which is also more expensive than solving the least square.
| @@ -114,7 +114,7 @@ bool SfMLocalizer::Localize(const Pair& imageSize, | |||
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| // use the P3P solver for generating the model | |||
| using SolverT = multiview::resection::P3PSolver; | |||
| using SolverLsT = multiview::resection::Resection6PSolver; | |||
| using SolverLsT = multiview::resection::EPnPSolver; | |||
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the least square solver is the DLT method, epnp is not linear
| @@ -54,7 +54,7 @@ class EPnPSolver : public robustEstimation::ISolver<robustEstimation::Mat34Model | |||
| */ | |||
| void solve(const Mat& x2d, const Mat& x3d, std::vector<robustEstimation::Mat34Model>& models, const std::vector<double>& weights) const override | |||
| { | |||
| throw std::logic_error("EPnPSolver does not support problem solving with weights."); | |||
| solve(x2d, x3d, models); | |||
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that is not implemented so it's wrong to do that.
For what it matters also the DLT method is implemented without the weights. It would be a good idea to add it to solveProblem
fabiencastan
approved these changes
Sep 13, 2021
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Make some modifications such that loRansac work for pose from points.