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License: Other
Simultaneous Multi-View Camera Pose Estimation and Object Tracking With Squared Planar Markers
License: Other
Hi! Thanks for your great work!
I just cloned your repo, bult it (with some minor fixes), and run it with example data from Readme.
I used OpenCV 3.4 - commit sha eab7faf536eea224863195e15b7ae9bf491745a3
And when I run this command:
find_solution box 0.05
I get an exception at multicam_mapper.cpp:970
:
That's because the last range is denoted as [3, 3)
which means that range is empty[cv::Range]. So copyTo()
function fails to copy to empty range.
Also, I built your project with OpenCV 3.2 - commit sha 70bbf17b133496bd7d54d034b0f94bd869e0e810
And yeah, there isn't any exception thrown, but copyTo()
function just does nothing:
So else branch can be thrown away without any visible consequences:
Which doesn't seem right.
As I can see in the comment, this code is supposed to revert changes made previously here:
When i > 3
column 3
were modified, therefore we need to restore column range [3, 4)
.
After that, minimization converges much faster.
Before:
And after:
Difference between results (new on the right):
final.solution.txt
final.solution โ new.txt
I haven't yet understood what's going on here, I wanted to start just by running examples first. So I can't really tell how to fix it or whether it does need fixing. Just wanted to let you know what I've encountered.
Thanks again!
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