I have some code, where a camera pose is estimated using SolvePnPRansac based on 2d-3d correspondance. I backproject a pointcloud into my image so visual confirmation is easy.
I know the data is noisy but in 2.4.11, I can set the number of iterations high and the number of inliers high and get fairly consistent results. Even using the standard settings the results are ok.
Using the exact same data but 3.1.0, I cannot produce a single result, which is right regardless of settings.
Has something fundamentally changed, which means the algorithm can no longer handle noisy data?
I made the switch in order to use other functions not available in 2.4.x.