"_rvec" and "_tvec" for solvePnPRansac() are wrong.

Environment:
OpenCV 3.1.0
OS X 10.11.4 I am using "solvePnPRansac()" to get "_rvec" and "_tvec".
However, I thought values are wrong.
Because when I tried same step with "OpenCV 2.4.12", there is the difference between both. call "solvePnP" with arg "rvec", but set "_local_model.col" as "_rvec". ("tvec" also) Code: opencv-3.1.0/modules/calib3d/src/solvepnp.cpp (https://github.com/Itseez/opencv/blob/master/modules/calib3d/src/solvepnp.cpp) result = solvePnP(opoints_inliers, ipoints_inliers, cameraMatrix, distCoeffs, rvec, tvec, false, flags == SOLVEPNP_P3P ? SOLVEPNP_EPNP : flags) ? 1 : -1; _rvec.assign(_local_model.col(0)); // output rotation vector _tvec.assign(_local_model.col(1)); // output translation vector I think this is right. Code: result = solvePnP(opoints_inliers, ipoints_inliers, cameraMatrix, distCoeffs, _local_model.col(0), _local_model.col(1), false, flags == SOLVEPNP_P3P ? SOLVEPNP_EPNP : flags) ? 1 : -1; What do you think?