From c6de84d868302c7a55852d86aab337a787030e07 Mon Sep 17 00:00:00 2001 From: Tomoaki Teshima Date: Fri, 19 Jul 2019 17:50:00 +0900 Subject: [PATCH] cudalegacy: fix test failure of SolvePnPRansac * use SOLVE_EPNP for the initial guess --- modules/cudalegacy/src/calib3d.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/modules/cudalegacy/src/calib3d.cpp b/modules/cudalegacy/src/calib3d.cpp index f9b80ef..b58ca3a 100644 --- a/modules/cudalegacy/src/calib3d.cpp +++ b/modules/cudalegacy/src/calib3d.cpp @@ -181,7 +181,7 @@ namespace image_subset(0, i) = image->at(subset_indices[i]); } - solvePnP(object_subset, image_subset, *camera_mat, *dist_coef, rot_vec, transl_vec); + solvePnP(object_subset, image_subset, *camera_mat, *dist_coef, rot_vec, transl_vec, false, SOLVEPNP_EPNP); // Remember translation vector Mat transl_vec_ = transl_vectors.colRange(iter * 3, (iter + 1) * 3); -- 2.7.4