fix tutorial on real time pose estimation

7 years ago · 6f4e35cc0e
parent cff79609c8
commit 6f4e35cc0e
1 changed files with 1 additions and 1 deletions
--- 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