vdo运行omd demo报错解决

vdo slam运行作者给的omd demo报错信息

OpenCV(3.4.1) Error: Assertion failed (npoints >= 4 && npoints == std::max(ipoints.checkVector(2, 5), ipoints.checkVector(2, 6))) in solvePnPRansac, file /home/siat/opencv-3.4.1/modules/calib3d/src/solvepnp.cpp, line 253
terminate called after throwing an instance of 'cv::Exception'

 

打开tracking.cc，将191行注释，将193行注释取消，重新编译即可

                if (mTestData==OMD)
                {
                    // --- for stereo depth map ---
                    // imD.at<float>(i,j) = mbf/(imD.at<float>(i,j)/mDepthMapFactor);
                    // --- for RGB-D depth map ---
                      imD.at<float>(i,j) = imD.at<float>(i,j)/mDepthMapFactor;
                }