使用solvePnPRansac（）进行“解包的值太多”-姿态估计

Question

ValueError：值太多，无法解包

根据文件：

Python:cv2.solvepnpransac（objectPoints,imagePoints,cameraMatrix,distcoeffs[,rvec[,tvec[,useextrinsicguess[,iterationscount[,reprojectionerror[,mininlierscount[,inliers[,flags]]]]]]]]]))rvec,tvec,inliers

（Python 2.7,OpenCV 3b)

Answer 1

异常表示返回的值超过3个。OpenCV3已经改变了很多方法签名，不幸的是没有真正的文档化。我检查了solvepnp.cp，签名为：

bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
                    InputArray _cameraMatrix, InputArray _distCoeffs,
                    OutputArray _rvec, OutputArray _tvec, bool useExtrinsicGuess,
                    int iterationsCount, float reprojectionError, double confidence,
                    OutputArray _inliers, int flags)

这似乎表明什么都没有改变。但是，在Python中：

solvePnPRansac(...)
solvePnPRansac(objectPoints, imagePoints, cameraMatrix, distCoeffs[, rvec[, tvec[, useExtrinsicGuess[, iterationsCount[, reprojectionError[, confidence[, inliers[, flags]]]]]]]]) 
-> retval, rvec, tvec, inliers

因此尝试一下可能会有帮助：

_, rvecs, tvecs, inliers  = cv2.solvePnPRansac(objp, corners2, mtx, dist)

rvecs, tvecs, inliers  = cv2.solvePnPRansac(objp, corners2, mtx, dist)[:-3]