Question about the normsAll[c] during initialization

[Louis Li]

Hi, Steffen

Thanks for your paper and code. But I have a question about the way to find the cam with most reconstructed points.
It's easy to understand that the counter "nr_recon[c]" should bigger than the threshold "60", but why the middle norm "normsAll[c]" should bigger than 0.06 ?
In my view, according to the bear1 cross product R*bear2 formula( bear1 x (Rbear2)), we can get a normal perpendicular to vector "bear1" and "Rbear2", and the norm of the normal is positive correlation with the area between two vector. So I think the norm smaller, the rotation "R" will be more accurately, isn't it?

MultiCol-SLAM/src/cMultiInitializer.cpp

Lines 178 to 191 in b68853c

 // find cam with most reconstructed points 
 bool init = false; 
 for (int c = 0; c < nrCams; ++c) 
 { 
 	if (nr_recon[c] > 60 && 
 		normsAll[c] > 0.06) 
 	{ 
 		init = true; 
 		bestCam = c; 
 		if (c > 0) 
 			if (normsAll[c] > normsAll[c - 1]) 
 				bestCam = c; 
 	} 
 }