{"action":"created","comment":{"url":"https://api.github.com/repos/Itseez/opencv/pulls/comments/22826147","id":22826147,"diff_hunk":"@@ -490,6 +490,21 @@ CV_EXPORTS_W void solvePnPRansac( InputArray objectPoints,\n                                   OutputArray inliers = noArray(),\n                                   int flags = ITERATIVE);\n \n+//! computes the camera pose from a few 3D points and the corresponding projections. The outliers are possible.\n+CV_EXPORTS_W void solvePnPRansac( InputArray objectPoints,","path":"modules/calib3d/include/opencv2/calib3d/calib3d.hpp","position":5,"original_position":5,"commit_id":"964d5a20e93c6b24050822d6f20482d5863c098c","original_commit_id":"964d5a20e93c6b24050822d6f20482d5863c098c","user":{"login":"ilya-lavrenov","id":2566854,"avatar_url":"https://avatars.githubusercontent.com/u/2566854?v=3","gravatar_id":"","url":"https://api.github.com/users/ilya-lavrenov","html_url":"https://github.com/ilya-lavrenov","followers_url":"https://api.github.com/users/ilya-lavrenov/followers","following_url":"https://api.github.com/users/ilya-lavrenov/following{/other_user}","gists_url":"https://api.github.com/users/ilya-lavrenov/gists{/gist_id}","starred_url":"https://api.github.com/users/ilya-lavrenov/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ilya-lavrenov/subscriptions","organizations_url":"https://api.github.com/users/ilya-lavrenov/orgs","repos_url":"https://api.github.com/users/ilya-lavrenov/repos","events_url":"https://api.github.com/users/ilya-lavrenov/events{/privacy}","received_events_url":"https://api.github.com/users/ilya-lavrenov/received_events","type":"User","site_admin":false},"body":"don't introduce another function, just add an optional parameter to the original one.","created_at":"2015-01-12T21:57:10Z","updated_at":"2015-01-12T21:57:10Z","html_url":"https://github.com/Itseez/opencv/pull/3588#discussion_r22826147","pull_request_url":"https://api.github.com/repos/Itseez/opencv/pulls/3588","_links":{"self":{"href":"https://api.github.com/repos/Itseez/opencv/pulls/comments/22826147"},"html":{"href":"https://github.com/Itseez/opencv/pull/3588#discussion_r22826147"},"pull_request":{"href":"https://api.github.com/repos/Itseez/opencv/pulls/3588"}}},"pull_request":{"url":"https://api.github.com/repos/Itseez/opencv/pulls/3588","id":27078633,"html_url":"https://github.com/Itseez/opencv/pull/3588","diff_url":"https://github.com/Itseez/opencv/pull/3588.diff","patch_url":"https://github.com/Itseez/opencv/pull/3588.patch","issue_url":"https://api.github.com/repos/Itseez/opencv/issues/3588","number":3588,"state":"open","locked":false,"title":"solvePnPRansac now accepts a seed and is deterministic","user":{"login":"vpradeep07","id":2602377,"avatar_url":"https://avatars.githubusercontent.com/u/2602377?v=3","gravatar_id":"","url":"https://api.github.com/users/vpradeep07","html_url":"https://github.com/vpradeep07","followers_url":"https://api.github.com/users/vpradeep07/followers","following_url":"https://api.github.com/users/vpradeep07/following{/other_user}","gists_url":"https://api.github.com/users/vpradeep07/gists{/gist_id}","starred_url":"https://api.github.com/users/vpradeep07/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/vpradeep07/subscriptions","organizations_url":"https://api.github.com/users/vpradeep07/orgs","repos_url":"https://api.github.com/users/vpradeep07/repos","events_url":"https://api.github.com/users/vpradeep07/events{/privacy}","received_events_url":"https://api.github.com/users/vpradeep07/received_events","type":"User","site_admin":false},"body":"Currently, `solvePnPRansac` produces a different result each time it is called with the exact same input.  This non-determinism is problematic when integrating `solvePnPRansac` into systems that would otherwise have been deterministic.  This PR modifies `solvePnPRansac` to now produce deterministic results.\r\n\r\nThe changes include:\r\n- Passing in a seed for the `RNG`\r\n- Breaking ties in the number of inliers by picking the iteration with a later index\r\n- Rerunning the final solvePnP (containing all the inliers) without an extrinsics guess\r\n- Fixing a race condition, so that the inliers count is not modified while inliers are being modified (also seen in PR #3587)\r\n- Ensuring that the 4 initial points chosen for a given iteration are not affected by the previous iteration\r\n\r\nSince this PR modifies the function signature of `solvePnPRansac`, it results in an ABI change.  If this is problematic, we could provide an overloaded version of `solvePnPRansac` that takes the 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