Merge pull request opencv#10879 from StevenPuttemans:fix_10650

alalek · alalek · commit bb925fe48885 · 2018-02-15T15:48:12.000Z
diff --git a/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp b/samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/src/main_detection.cpp
@@ -222,7 +222,7 @@ int main(int argc, char *argv[])
     Mat inliers_idx;
     vector<Point2f> list_points2d_inliers;
 
-    if(good_matches.size() > 0) // None matches, then RANSAC crashes
+    if(good_matches.size() >= 4) // OpenCV requires solvePnPRANSAC to minimally have 4 set of points
     {
 
       // -- Step 3: Estimate the pose using RANSAC approach

Original file line number	Diff line number	Diff line change
`@@ -222,7 +222,7 @@ int main(int argc, char *argv[])`
`222`	`222`	`Mat inliers_idx;`
`223`	`223`	`vector<Point2f> list_points2d_inliers;`
`224`	`224`
`225`		`- if(good_matches.size() > 0) // None matches, then RANSAC crashes`
	`225`	`+ if(good_matches.size() >= 4) // OpenCV requires solvePnPRANSAC to minimally have 4 set of points`
`226`	`226`	`{`
`227`	`227`
`228`	`228`	`// -- Step 3: Estimate the pose using RANSAC approach`