Relocate failure after loading the map

[Frank-Rong]

Hi BoomFan:
Thank you for sharing your improved code, when I saved the map with your code, and I could not relocate the map when I reloaded it, either in monocular or binocular. I can't solve this problem in the function of Relocalization(): cv::Mat Tcw = pSolver->iterate(5,bNoMore,vbInliers,nInliers); The Tcw is always empty. And in the file PnPsolver.cc, the function void PnPsolver::CheckInliers(), error2 is so big that mnInliersi always zero. Could you help me?

[JLDDER]

Hi @Frank-Rong,
I got the same problem,
I can't relocate the map when I loaded it and I find the Tcw is
[1, 0, 0, 0;
0, 1, 0, 0;
0, 0, 1, 0;
0, 0, 0, 1;].
do you know how to solve it? thanks

[zthcool]

Hi @Frank-Rong,
I got the same problem,
I can't relocate the map when I loaded it and I find the Tcw is
[1, 0, 0, 0;
0, 1, 0, 0;
0, 0, 1, 0;
0, 0, 0, 1;].
do you know how to solve it? thanks

Unfortunately,I got the same problem.My environment is Windows,VS2015+Opencv 3.4.11