diff --git a/corelib/src/OdometryMono.cpp b/corelib/src/OdometryMono.cpp
index 36e8612f67..e4434841b6 100644
--- 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());