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From what I have understood of the code, solvePnPRansac returns the best rvec and tvec estimated during the Minimal Sample Sets step (estimated rvec and tvec that produce the best (bigger) consensus set) and not rvec and tvec estimated using all the inliers.
The corresponding faulty code is here:
System information (version)
Detailed description
From what I have understood of the code,
solvePnPRansac
returns the bestrvec
andtvec
estimated during the Minimal Sample Sets step (estimatedrvec
andtvec
that produce the best (bigger) consensus set) and notrvec
andtvec
estimated using all the inliers.The corresponding faulty code is here:
When
result > 0
is ok,_rvec
and_tvec
are assigned with the_local_model
insted ofrvec
andtvec
estimated using all the inliers.The text was updated successfully, but these errors were encountered: