OpenCV integration and licensing about ippe HOT 5 CLOSED

Thank you for all your work to integrate it!

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Hi, thanks for your suggestion. Integration of IPPE into OpenCV is a great objective and I would certainly support it and make a license change. I agree that the generic interface is needed. I have also been thinking of this myself. I would say that for a generic interface, when we call OpenCV's solvePnP with a particular method, we want to return a list of pose solutions together with their respective reprojection errors. That's why I think it's best to return a vector of pose solutions.

It's not possible to always say in advance how many pose solutions should be returned. For example, for P3P there is no guarantee that 4 solutions will be returned (4 is the maximal number, but there can be between 0 and 4 real-valued solutions). By contrast, IPPE has an advantage that it guarantees 2 pose solutions.

It would also be good to have a mechanism to indicate whether the solution with lowest reprojection error is significantly better than the others, in which case we can assume the case has a unique solution. It is possible to do this using a likelihood ratio test threshold.

from ippe.

Thanks for your input.
I will report here when a first implementation draft will be available.

from ippe.

Sure, looking forward to it!

from ippe.

Thanks for your help!

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