updated ransanc model

modules/calib3d/src/solvepnp.cpp

@@ -203,7 +203,7 @@ bool cv::solvePnPRansac(InputArray _opoints, InputArray _ipoints,
     Ptr<PointSetRegistrator::Callback> cb; // pointer to callback
     cb = makePtr<PnPRansacCallback>( cameraMatrix, distCoeffs, flags, useExtrinsicGuess, rvec, tvec);
 
-    int model_points = 4;                             // minimum of number of model points
+    int model_points = flags == P3P ? 4 : 6;          // minimum of number of model points
     double param1 = reprojectionError;                // reprojection error
     double param2 = confidence;                       // confidence
     int param3 = iterationsCount;                     // number maximum iterations

samples/cpp/tutorial_code/calib3d/real_time_pose_estimation/CMakeLists.txt

 set(sample_dir ${CMAKE_CURRENT_SOURCE_DIR}/tutorial_code/calib3d/real_time_pose_estimation/src/)
+set(target cpp-tutorial-)
 
 if(HAVE_opencv_nonfree)
   ocv_include_directories("${OpenCV_SOURCE_DIR}/modules/nonfree/include")
 endif()
 
 set(sample_pnplib
-        ${sample_dir}main_registration.cpp
         ${sample_dir}CsvReader.cpp
         ${sample_dir}CsvWriter.cpp
         ${sample_dir}ModelRegistration.cpp
@@ -16,12 +16,12 @@ set(sample_pnplib
         ${sample_dir}RobustMatcher.cpp
 )
 
-add_executable( pnp_registration ${sample_pnplib} )
-add_executable( pnp_verification ${sample_pnplib} )
-add_executable( pnp_detection ${sample_pnplib} )
-add_executable( pnp_test ${sample_pnplib} )
+add_executable( ${target}pnp_registration ${sample_dir}main_registration.cpp ${sample_pnplib} )
+add_executable( ${target}pnp_verification ${sample_dir}main_verification.cpp ${sample_pnplib} )
+add_executable( ${target}pnp_detection ${sample_dir}main_detection.cpp ${sample_pnplib} )
+add_executable( ${target}pnp_test ${sample_dir}test_pnp.cpp )
 
-ocv_target_link_libraries(pnp_registration ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
-ocv_target_link_libraries(pnp_verification ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
-ocv_target_link_libraries(pnp_detection ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
-ocv_target_link_libraries(pnp_test ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS})
+ocv_target_link_libraries( ${target}pnp_registration ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
+ocv_target_link_libraries( ${target}pnp_verification ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
+ocv_target_link_libraries( ${target}pnp_detection ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )
+ocv_target_link_libraries(${target}pnp_test ${OPENCV_LINKER_LIBS} ${OPENCV_CPP_SAMPLES_REQUIRED_DEPS} )