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tum-vision / LDSO

DSO with SIM(3) pose graph optimization and loop closure
GNU General Public License v3.0
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KITTI seq 00 fail on opencv 4.0 #48

Closed rancheng closed 4 years ago

rancheng commented 4 years ago

opencv 4 has modified their calib3d/calibration.cpp which will result the following exception:

I0130 19:00:57.922091 32521 FullSystem.cc:73] *** taking frame 1900 ***
I0130 19:00:57.922495 32520 LoopClosing.cc:125] candidate kf id: 1410, max id: 1537, min id: 1525
I0130 19:00:57.922719 32520 LoopClosing.cc:133] add loop candidate from 1410, current: 1538, score: 0.0417803
I0130 19:00:57.923154 32520 LoopClosing.cc:166] matches: 19
I0130 19:00:57.926975 32521 FullSystem.cc:107] swap coarse tracker to 1899
I0130 19:00:57.926997 32521 FullSystem.cc:114] tracking new frame
terminate called after throwing an instance of 'cv::Exception'
  what():  OpenCV(3.4.9-dev) /home/ran/Programs/opencv/modules/calib3d/src/calibration.cpp:1099: error: (-2:Unspecified error) in function 'void cvFindExtrinsicCameraParams2(const CvMat*, const CvMat*, const CvMat*, const CvMat*, CvMat*, CvMat*, int)'
> DLT algorithm needs at least 6 points for pose estimation from 3D-2D point correspondences. (expected: 'count >= 6'), where
>     'count' is 5
> must be greater than or equal to
>     '6' is 6
NikolausDemmel commented 4 years ago

Looks like a duplicate: #47