Fixed solvePnPRansac minInliers parameter changed to confidence in Op…

…enCV3 (OdometryMono)
introlab · Jul 27, 2015 · a403924 · a403924
1 parent c717020
commit a403924
Showing 1 changed file with 10 additions and 2 deletions.
diff --git a/corelib/src/OdometryMono.cpp b/corelib/src/OdometryMono.cpp
@@ -360,7 +360,11 @@ Transform OdometryMono::computeTransform(const SensorData & data, OdometryInfo *
  true,
  this->getIterations(),
  this->getPnPReprojError(),
- 0,
+#if CV_MAJOR_VERSION < 3
+ 0, // min inliers
+#else
+ 0.99, // confidence
+#endif
  inliersV,
  this->getPnPFlags());
 
@@ -875,7 +879,11 @@ Transform OdometryMono::computeTransform(const SensorData & data, OdometryInfo *
  false,
  this->getIterations(),
  this->getPnPReprojError(),
- 0,
+#if CV_MAJOR_VERSION < 3
+ 0, // min inliers
+#else
+ 0.99, // confidence
+#endif
  inliersPnP,
  this->getPnPFlags());