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());