Using EPro-PnP to solve relative pose estimation

[gzrer]

Hi, I'm sorry to disturb you!
A problem has been bothering me for a long time. If I have 2d and a 3D correspondence, can I use Epropnp to solve the image pose ? I found that the calculated pose changes very small compared to the initial value. It is because there are too few iteration steps in the solver?

EProPnP6DoF(
    mc_samples=512,
    num_iter=4,
    solver=LMSolver(
        dof=6,
        num_iter=5,
        init_solver=RSLMSolver(
            dof=6,
            num_points=16,
            num_proposals=4,
            num_iter=3))).cuda()

Bestes wishes.

[Hansheng Chen]

The PnP solver returns the relative pose (transformation) from the object to the camera, so the inverse transformation is just the camera pose relative to the object (or a world coordinate system).

I recommend setting more than 10 iterations in the LMSolver, if you are not confident

[gzrer]

Thanks a lot!