Comments (2)
i have update the file 'data.yml' correctly
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I got the same problem and I fixed it.
change around line 285 in file /src/SemiDenseMapping.cpp
semidense_mapper->points_ref_im_sd = points_ref_im_sd_init.clone();
semidense_mapper-> image_points_byFocal_sd = image_points_byFocal_sd_init.clone();
semidense_mapper->do_init_semi=0;
cv::Mat& dm = semidense_mapper->depth_map;
dm = cv::Mat::zeros(dm.rows,dm.cols,dm.type());
// semidense_mapper->depth_map = semidense_mapper->depth_map*0;
cv::Mat inv_depths_borrar = semidense_mapper-> inv_depths.clone();
cv::Mat depth_map_points_tracked = cv::Mat::zeros(dm.rows,dm.cols,dm.type());
cv::Mat variance_points_tracked = cv::Mat::zeros(dm.rows,dm.cols,dm.type());
cv::Mat points3D_tracked = semidense_mapper->points3D_tracked.clone();
cv::Mat points_aux(0,points3D_tracked.cols,CV_32FC1);
problem comes from "= semidense_mapper->depth_map*0;"
there are a lot of places(more than the place i just typed) that has "cv::Mat/*0", all considered wrong.
replace them with cv::Mat::zeros() function, then the project will work.
that's my testing scene.
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