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 );