From 033d45ef5fe4bc44c72adafc5c646debd7995e7c Mon Sep 17 00:00:00 2001
From: Sebastian Hahta <joseha@utu.fi>
Date: Thu, 6 Aug 2020 17:07:26 +0300
Subject: [PATCH] fix incorrect if
---
components/calibration/src/extrinsic.cpp | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/components/calibration/src/extrinsic.cpp b/components/calibration/src/extrinsic.cpp
index ea575608b..a1381fd47 100644
--- a/components/calibration/src/extrinsic.cpp
+++ b/components/calibration/src/extrinsic.cpp
@@ -390,7 +390,6 @@ void ExtrinsicCalibration::updateStatus_(std::string str) {
void ExtrinsicCalibration::calculatePairPose(unsigned int c1, unsigned int c2) {
- const auto& visibility = points_.visibility();
// calculate paramters and update triangulation
cv::Mat K1 = calib_[c1].intrinsic.matrix();
@@ -555,7 +554,7 @@ void ExtrinsicCalibration::calculateInitialPoses() {
// already calibrated. skip chain
continue;
}
- if (c == c_ref) { continue; }
+ if (c == unsigned(c_ref)) { continue; }
cv::Mat R_chain = cv::Mat::eye(cv::Size(3, 3), CV_64FC1);
cv::Mat t_chain = cv::Mat(cv::Size(1, 3), CV_64FC1, cv::Scalar(0.0));
@@ -698,7 +697,7 @@ double ExtrinsicCalibration::optimize() {
unsigned int n = px.size();
unsigned int m = n / 2;
- if (m == 0) {
+ if (n == 0) {
n_points_missing++;
break;
}
--
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