PTAM initialisation bug

[vixtor-qm]

HI, i found a bug in original and your PTAM code.
bug is related to map initialisation
here it is:

line362: p->RefreshPixelVectors();
At this moment p->worldPosition is not set, therefore pixel vectors will get arbitrary values.
this then prevents
finder.SetSubPixPos(vec(vTrailMatches[i].second));
bool bGood = finder.IterateSubPixToConvergence(*pkSecond,10);
to find matches.

[simonlynen]

Can you make a pull request for this change? Then I am happy to take a look
at it. Thanks
On Jun 18, 2015 8:19 PM, "vixtor-qm" [email protected] wrote:

HI, i found a bug in original and your PTAM code.
bug is related to map initialisation
here it is:

line362: p->RefreshPixelVectors();
At this moment p->worldPosition is not set, therefore pixel vectors will
get arbitrary values.
this then prevents
finder.SetSubPixPos(vec(vTrailMatches[i].second));
bool bGood = finder.IterateSubPixToConvergence(*pkSecond,10);
to find matches.

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#70.

[vixtor-qm]

yes, sure. can't do right now, will do tomorrow morning