Fixed solvePnPRansac minInliers parameter changed to confidence in Op…

…enCV3
introlab · Jul 27, 2015 · c717020 · c717020
1 parent 1d926fe
commit c717020
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Showing 4 changed files with 16 additions and 3 deletions.
diff --git a/corelib/src/OdometryBOW.cpp b/corelib/src/OdometryBOW.cpp
@@ -244,6 +244,7 @@ Transform OdometryBOW::computeTransform(
 						UASSERT(data.stereoCameraModel().isValid() || (data.cameraModels().size() == 1 && data.cameraModels()[0].isValid()));
 						const CameraModel & cameraModel = data.stereoCameraModel().isValid()?data.stereoCameraModel().left():data.cameraModels()[0];
 
+						UDEBUG("");
 						t = util3d::estimateMotion3DTo2D(
 								localMap_,
 								newSignature->getWords(),

diff --git a/corelib/src/OdometryOpticalFlow.cpp b/corelib/src/OdometryOpticalFlow.cpp
@@ -259,7 +259,11 @@ Transform OdometryOpticalFlow::computeTransform(
 							true,
 							this->getIterations(),
 							this->getPnPReprojError(),
-							0,
+#if CV_MAJOR_VERSION < 3
+							0, // min inliers
+#else
+							0.99, // confidence
+#endif
 							inliersV,
 							this->getPnPFlags());
 

diff --git a/corelib/src/util3d_features.cpp b/corelib/src/util3d_features.cpp
@@ -459,7 +459,11 @@ std::multimap<int, pcl::PointXYZ> generateWords3DMono(
 										true,
 										pnpIterations,
 										pnpReprojError,
-										0,
+#if CV_MAJOR_VERSION < 3
+										0, // min inliers
+#else
+										0.99, // confidence
+#endif
 										inliersV,
 										pnpFlags);
 

diff --git a/corelib/src/util3d_motion_estimation.cpp b/corelib/src/util3d_motion_estimation.cpp
@@ -110,7 +110,11 @@ Transform estimateMotion3DTo2D(
 				true,
 				iterations,
 				reprojError,
-				0,
+#if CV_MAJOR_VERSION < 3
+				0, // min inliers
+#else
+				0.99, // confidence
+#endif
 				inliers,
 				flagsPnP);