[Bug集合]OpenCV Error: Assertion failed (confidence >0&&confidence 小于1) ptsetreg.cpp, line 178

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吐槽：为什么标题里的小于号是非法字符呢？？？    “<<<<<<<<”

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Bug全内容：

OpenCV Error: Assertion failed (confidence > 0 && confidence < 1) in run, file /home/eminbogen/下载/opencv-3.1.0/modules/calib3d/src/ptsetreg.cpp, line 178
terminate called after throwing an instance of 'cv::Exception'
  what():  /home/eminbogen/下载/opencv-3.1.0/modules/calib3d/src/ptsetreg.cpp:178: error: (-215) confidence > 0 && confidence < 1 in function run

*** Crashed with return code: 0 ***

出现于使用高翔的《一起做RGB-D SLAM (3)》中的程序detectFeatures.cpp。

出现原因为opencv版本更迭。

原来我的程序：

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

改为：

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

该子函数头文件：

CV_EXPORTS_W bool solvePnPRansac( InputArray objectPoints, InputArray imagePoints,
                                  InputArray cameraMatrix, InputArray distCoeffs,
                                  OutputArray rvec, OutputArray tvec,
                                  bool useExtrinsicGuess = false, int iterationsCount = 100,
                                  float reprojectionError = 8.0, double confidence = 0.99,
                                  OutputArray inliers = noArray(), int flags = SOLVEPNP_ITERATIVE );

置信度修改了一下