实测pose_estimation_2d2d运行结果与书中差异较大

[helloliver]

十二讲第二版书中运行结果，误差在0.001，但我运行程序pose_estimation_2d2d时，输出的结果为

./pose_estimation_2d2d ../1.png ..2.png 
-- Max dist : 94.000000 
-- Min dist : 4.000000 
共找到79组匹配点
fundamental_matrix is 
[4.54443750398184e-06, 0.0001333855576992603, -0.01798499246479044;
 -0.0001275657012964255, 2.266794804645652e-05, -0.01416678429206633;
 0.01814994639971766, 0.004146055870980492, 1]
essential_matrix is 
[-0.008455114492964278, 0.05451570701059781, 0.1546375809484052;
 -0.008287154708445212, 0.03351311565984172, -0.6896472136971504;
 -0.1153993974485718, 0.6945899967012867, 0.02159624094256633]
homography_matrix is 
[0.926121428117554, -0.1445322024509823, 33.26921085699323;
 0.04535424464910425, 0.9386696693816733, 8.570979966717408;
 -1.006197561051851e-05, -3.008140280167667e-05, 1]
R is 
[0.9956584940813579, -0.05615340406690447, 0.07423582945816433;
 0.05268846331440004, 0.9974645001566195, 0.04783823534446425;
 -0.07673388428334535, -0.0437191735855581, 0.9960926386957119]
t is 
[-0.9726703113454949;
 -0.2153829834753195;
 0.08673313009645391]
t^R =
[0.01195733758736675, -0.07709685221674556, -0.2186905642298021;
 0.01171980658216709, -0.04739470268352609, 0.9753084428633267;
 0.1631993929614534, -0.9822985936236425, -0.03054169683725466]
epipolar constraint = [-0.04174349109967315]
epipolar constraint = [0.03889681955103257]
epipolar constraint = [0.318544550501749]
epipolar constraint = [-0.1588102091798896]
epipolar constraint = [-0.295731891763937]
epipolar constraint = [0.2262943387506186]
epipolar constraint = [0.035942295713844]
epipolar constraint = [-0.2370020131930551]
epipolar constraint = [0.001239646187747481]
epipolar constraint = [-0.03561921127826907]
epipolar constraint = [-0.3550729684930912]
epipolar constraint = [0.05255350948680214]
epipolar constraint = [-0.5013141283582616]
epipolar constraint = [0.03499475583609603]
epipolar constraint = [-0.05028947713058515]
epipolar constraint = [-0.05586036457391569]
epipolar constraint = [-0.006621579419851642]
epipolar constraint = [0.2568805877495495]
epipolar constraint = [-0.105960273577219]
epipolar constraint = [-0.2035313869808909]
epipolar constraint = [0.181504288601562]
epipolar constraint = [-0.03500377938427771]
epipolar constraint = [0.2022636388770583]
epipolar constraint = [0.3175538192739373]
epipolar constraint = [-0.3793680174091685]
epipolar constraint = [-0.1415711927070099]
epipolar constraint = [-0.1535301597318547]
epipolar constraint = [-0.2240936579415184]
epipolar constraint = [-0.04276623066959503]
epipolar constraint = [0.203311050356438]
epipolar constraint = [-0.2140281089786749]
epipolar constraint = [-0.2117271690791074]
epipolar constraint = [-0.5017208919877371]
epipolar constraint = [0.05746527691970152]
epipolar constraint = [-0.4699601456333802]
epipolar constraint = [-0.1199929997239536]
epipolar constraint = [-0.1107331057576054]
epipolar constraint = [0.4166123212309968]
epipolar constraint = [-0.212311020251197]
epipolar constraint = [0.1488497679746872]
epipolar constraint = [-0.1008217523925371]
epipolar constraint = [-0.01063042706433287]
epipolar constraint = [-0.3642523836129378]
epipolar constraint = [-0.2325112070145744]
epipolar constraint = [0.2311037890850768]
epipolar constraint = [-0.3224337622412802]
epipolar constraint = [-0.2788056076333967]
epipolar constraint = [-0.2102267012030882]
epipolar constraint = [-0.0554794846632746]
epipolar constraint = [0.00594920723833417]
epipolar constraint = [0.04516500571008632]
epipolar constraint = [-0.2035741950482616]
epipolar constraint = [0.2057097030934672]
epipolar constraint = [-0.09344151124385626]
epipolar constraint = [-0.2201344121851928]
epipolar constraint = [-0.1792811477850846]
epipolar constraint = [0.05820849091264332]
epipolar constraint = [-0.03912735072360332]
epipolar constraint = [-0.05420474114868826]
epipolar constraint = [0.2190430057975537]
epipolar constraint = [0.001272436358736889]
epipolar constraint = [-0.1031503092915086]
epipolar constraint = [0.0516008860828269]
epipolar constraint = [0.000401189111909464]
epipolar constraint = [0.04048004738498322]
epipolar constraint = [0.1240543980790168]
epipolar constraint = [-0.2694363390982075]
epipolar constraint = [-0.06587681779429658]
epipolar constraint = [-0.06859085828692454]
epipolar constraint = [-0.2559543478160231]
epipolar constraint = [-0.1861339649403193]
epipolar constraint = [-0.0193929787651777]
epipolar constraint = [-0.04827656520926885]
epipolar constraint = [-0.203400895596226]
epipolar constraint = [-0.03787715419550421]
epipolar constraint = [-0.2684091342574775]
epipolar constraint = [-0.1118852554021042]
epipolar constraint = [-0.1777524447464409]
epipolar constraint = [-0.1730983806544727]

误差很大，而且输出的旋转矩阵以及平移部分差别也很大

我的环境为ubuntu20.04，opencv版本为4.2.0

此外由于版本原因，编译时遇到错误，改动代码如下

fundamental_matrix = findFundamentalMat(points1, points2, CV_FM_8POINT);

修改为

fundamental_matrix = findFundamentalMat(points1, points2, cv::FM_8POINT);