hsarham / automatic-ar Goto Github PK

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 — 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!