[filterSfM] fix bug in damping

almarouk · almarouk · commit e2d1af4cae9c · 2024-03-18T12:17:44.000+01:00
diff --git a/src/software/pipeline/main_filterSfM.cpp b/src/software/pipeline/main_filterSfM.cpp
@@ -803,9 +803,9 @@ void propagateNeighborsScores(const std::vector<Landmark*>& landmarksData,
             viewScores_total = 1.;
             for(auto j = params.maxNbObservationsPerLandmark; j < viewScores_acc.size(); j++)
             {
-                const double& v = params.dampingFactor * viewScores_acc[j];
-                viewScores_total += v - viewScores_acc[j];
-                viewScores_acc[j] = v;
+                const double& v = params.dampingFactor * viewScores_acc[idx[j]];
+                viewScores_total += v - viewScores_acc[idx[j]];
+                viewScores_acc[idx[j]] = v;
             }
             // re-normalize
             for(auto j = 0; j < viewScores_acc.size(); j++)

Original file line number	Diff line number	Diff line change
`@@ -803,9 +803,9 @@ void propagateNeighborsScores(const std::vector<Landmark*>& landmarksData,`
`803`	`803`	`viewScores_total = 1.;`
`804`	`804`	`for(auto j = params.maxNbObservationsPerLandmark; j < viewScores_acc.size(); j++)`
`805`	`805`	`{`
`806`		`- const double& v = params.dampingFactor * viewScores_acc[j];`
`807`		`- viewScores_total += v - viewScores_acc[j];`
`808`		`- viewScores_acc[j] = v;`
	`806`	`+ const double& v = params.dampingFactor * viewScores_acc[idx[j]];`
	`807`	`+ viewScores_total += v - viewScores_acc[idx[j]];`
	`808`	`+ viewScores_acc[idx[j]] = v;`
`809`	`809`	`}`
`810`	`810`	`// re-normalize`
`811`	`811`	`for(auto j = 0; j < viewScores_acc.size(); j++)`