NumPy and OpenCV error: (-215:Assertion failed) ( (npoints >= 4) ||
Python, OpenCV I am trying to use this function
retval, rvecc, tvecc = cv2.solvePnP(np.array(tnsPoints),
np.array(imPoints),
np.array(camera_matrix),
np.array(dist))error: (-215:Assertion failed) ( (npoints >= 4) || (npoints == 3 && flags == SOLVEPNP_ITERATIVE && useExtrinsicGuess) || (npoints >= 3 && flags == SOLVEPNP_SQPNP) ) && npoints == std::max(ipoints.checkVector(2, CV_32F), ipoints.checkVector(2, CV_64F)) in function 'solvePnPGeneric'
where tnsPoints is formed this way:
objPoints = objp = np.zeros((4*4,3), np.float32)
objp[:,:2] = np.mgrid[0:4,0:4].T.reshape(-1,2)and imPoints is corners[1:] which I get from
corners, ids, rejected = aruco.detectMarkers(imgGray, arucoDict, parameters=arucoParam)It probably says that I don't have enough points to solvePnP, but here is corners:
(array([[[266., 629.],
[334., 625.],
[316., 665.],
[245., 668.]]], dtype=float32), array([[[471., 620.],
[538., 618.],
[535., 656.],
[464., 659.]]], dtype=float32), array([[[408., 555.],
[465., 554.],
[456., 583.],
[395., 584.]]], dtype=float32), array([[[340., 503.],
[392., 502.],
[380., 525.],
[325., 526.]]], dtype=float32), array([[[496., 501.],
[547., 500.],
[543., 522.],
[491., 523.]]], dtype=float32))where each array contains coordinates of the corners of an aruco-marker, there are 5 aruco-markers as you can see, so this should be enough.
So why is that saying I have <4 points, when I pass it 16?