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Hi,

The error refers to PnP motion estimation, for which in OpenCV4.1 the minimum features should be 6 instead of 5. That calibration function is called from here when iterative PnP is used (Vis/PnPFlags=0). Try withVis/MinInliers set to 6. You can also try another PnP flags with Vis/PnPFlags (0 default), see all possible values for OpenCV4.1 here.

cheers,
Mathieu

Hi,

The error refers to PnP motion estimation, for which in OpenCV4.1 the minimum features should be 6 instead of 5. That calibration function is called from here when iterative PnP is used (Vis/PnPFlags=0). Try withVis/MinInliers set to 6. You can also try another PnP flags with Vis/PnPFlags (0 default), see all possible values for OpenCV4.1 here.

EDIT See issue here: https://github.com/introlab/rtabmap/issues/503, this has been fixed by this commit.

cheers,
Mathieu

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