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Reg/OpticalFlow: fixed missing pt reprojection for last camera

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matlabbe
2024-10-30 14:14:29 -07:00
parent 8b21c27f5f
commit 6b313257f2
1 changed files with 2 additions and 1 deletions
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3
corelib/src/RegistrationVis.cpp
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@@ -597,8 +597,9 @@ Transform RegistrationVis::computeTransformationImpl(
// Start from camera having the reference corner first (in case there is overlap between the cameras) // Start from camera having the reference corner first (in case there is overlap between the cameras)
int startIndex = cornersFrom[i].x/subImageWidth; int startIndex = cornersFrom[i].x/subImageWidth;
UASSERT(startIndex < nCameras); UASSERT(startIndex < nCameras);
for(int c=startIndex; (c+1)%nCameras != 0; ++c) for(int ci=0; ci < nCameras; ++ci)
{ {
int c = (ci+startIndex) % nCameras;
const CameraModel & model = toSignature.sensorData().cameraModels().size()?toSignature.sensorData().cameraModels()[c]:toSignature.sensorData().stereoCameraModels()[c].left(); const CameraModel & model = toSignature.sensorData().cameraModels().size()?toSignature.sensorData().cameraModels()[c]:toSignature.sensorData().stereoCameraModels()[c].left();
cv::Point3f ptsInCamFrame = util3d::transformPoint(kptsFrom3D[i], inverseTransforms[c]); cv::Point3f ptsInCamFrame = util3d::transformPoint(kptsFrom3D[i], inverseTransforms[c]);
if(ptsInCamFrame.z > 0) if(ptsInCamFrame.z > 0)