OpenCV Error: Assertion failed (confidence ＞ 0 && confidence ＜ 1) in run,ptsetreg.cpp, line 178

Bug全内容：

OpenCV Error: Assertion failed (confidence > 0 && confidence < 1) in run, file /home/chenzhe/soft/opencv-3.1.0/modules/calib3d/src/ptsetreg.cpp, line 178
terminate called after throwing an instance of ‘cv::Exception’
what(): /home/chenzhe/soft/opencv-3.1.0/modules/calib3d/src/ptsetreg.cpp:178: error: (-215) confidence > 0 && confidence < 1 in function run
已放弃 (核心已转储)

出现于使用高翔的《一起做RGB-D SLAM (5)》中的程序VisualOdometry.cpp。

原来我的程序：

// 求解pnpVisualOdometry

 cv::solvePnPRansac( pts_obj, pts_img, cameraMatrix, cv::Mat(), rvec, tvec, false, 100, 1.0, 100, inliers );

改为：

 cv::solvePnPRansac( pts_obj, pts_img, cameraMatrix, cv::Mat(), rvec, tvec, false, 100, 1.0, 0.99, inliers );

修改的内容为：将confidence=100，改为0.99