OpenGV is a collection of computer vision methods for solving geometric vision problems. It is hosted and maintained by the Mobile Perception Lab of ShanghaiTech.
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Poor accuracy of test_multi_noncentral_relative_pose_sac #103
Hi,
@laurentkneip When I running test_multi_noncentral_relative_pose_sac, as shown below, the RANSAC result is quite different from the groundtruth. Could you tell me the cause of this problem?
the random position is:
-0.045566
0.577806
1.52469
the random rotation is:
0.912585 -0.27358 0.303879
0.352483 0.903025 -0.245563
-0.207229 0.331209 0.92052
the noise in the data is:
0.3
the outlier fraction is:
0.1
the ransac threshold is: 7.8125e-07
the ransac results is:
-0.639841 0.713275 0.28608 1.82647
-0.142771 0.25545 -0.956223 0.310284
-0.755129 -0.652675 -0.0616126 -0.112605
Ransac needed 101 iterations and 0.219001 seconds
the number of inliers is: 5
the found inliers are:
2 15 9 13 17
Hi, @laurentkneip When I running test_multi_noncentral_relative_pose_sac, as shown below, the RANSAC result is quite different from the groundtruth. Could you tell me the cause of this problem?