Fixme: Catching a cv exception, DLT algorithm needs at least 6 points for pose estimation from 3D-2D point correspondences. about r3live HOT 2 CLOSED

Yes, I have met some strange errors with some versions of OpenCV too. When I switch to another version, such exceptions disappear immediately...

For this exception, I use try {...} catch {...} to handle this case, shown as below:

And, since it has very little in affecting the overall system (e.g., crash the whole program, cause the large drift in localization), I temporally skip this exception by ignoring this image frame.
However, I will try to fix it if I come up with a better idea to handle this problem.

from r3live.

I know the DLT algorithm needs at least 6 points for pose estimation from 3D-2D point correspondences. But such an OpenCV exception should not happen since I have guaranteed that the minimal 3D-2D much larger than 10, see:

So, I have no idea that why such an exception can appear. Might be there have some bugs in function cv::solvePnPRansac of
some version of OpenCV (I guess)?

from r3live.