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Fixed solvePnPRansac minInliers parameter changed to confidence in OpenCV3 (OdometryMono)

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matlabbe
2015-07-27 16:14:55 -04:00
parent c717020405
commit a4039241c5
1 changed files with 10 additions and 2 deletions
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12
corelib/src/OdometryMono.cpp
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@@ -360,7 +360,11 @@ Transform OdometryMono::computeTransform(const SensorData & data, OdometryInfo *
true, true,
this->getIterations(), this->getIterations(),
this->getPnPReprojError(), this->getPnPReprojError(),
0, #if CV_MAJOR_VERSION < 3
0, // min inliers
#else
0.99, // confidence
#endif
inliersV, inliersV,
this->getPnPFlags()); this->getPnPFlags());
@@ -875,7 +879,11 @@ Transform OdometryMono::computeTransform(const SensorData & data, OdometryInfo *
false, false,
this->getIterations(), this->getIterations(),
this->getPnPReprojError(), this->getPnPReprojError(),
0, #if CV_MAJOR_VERSION < 3
0, // min inliers
#else
0.99, // confidence
#endif
inliersPnP, inliersPnP,
this->getPnPFlags()); this->getPnPFlags());