Comments (2)
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:
r3live/r3live/src/rgb_map/rgbmap_tracker.cpp
Lines 343 to 353 in 4d386cc
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.
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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:
r3live/r3live/src/rgb_map/rgbmap_tracker.cpp
Lines 336 to 339 in 4d386cc
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)?
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