Fix incorrect rvec and tvec when using useExtrinsicGuess - #1585
Merged
Merged
Conversation
Owner
|
Sorry for the late reply. Thank you! |
This was referenced Jan 16, 2026
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Fixes #1556.
I also updated the test to use inputs that reproduce the issue (for many inputs, SolvePnP will still converge when the initial rvec and tvec are wrong). With the updated test and no change to calib3d.h, the
rvecandtvecoutputs are clearly wrong. With the fix (or withoutuseExtrinsicGuess) they are correct.SolvePnPRansac has a similar issue, but I didn't fix it here because:
outparameters forrvecandtvec, so modifying them would be a breaking change.outparameters, it's obvious thatuseExtrinsicGuesswon't work, so it's much less likely to confuse users than the normalsolvePnPversion.