Get the proper SimpleBlobDetector blobs order to use with solvePnP

Python
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4

Yes! It works!

First of all I looked through the generated permutations list and verified there was a valid points permutation generated. Then I took its index and verified that the solvePnP result and therefore the projectedPoints were valid as well! So that was just two small bugs in the code:

  1. My ‘isCloseTo’ function was only verifying the X point coord, but not Y ( :man_facepalming:x1);
  2. I was validating the projectedPoints with the original ones, but not with permutation I was solving PnP for (:man_facepalming:x2).

After fixing this two issues everything worked!

Thank you so much for your help, again! Here is a small demo on how it looks. The Z axis (blue) is flipping sometimes because the marker is flat i.e. you can rotate it 180 deg along Y axis and it will still be the same shape.

ir-tracking