Incorrect Transformation in Calibration::initCameraGroup

[stillfd]

Hi,
i noticed that when init cameragroup, the code gives incorrect initialization when the path length is larger than 2.
Seems the transformation should be updated by the equation: transform = current_trans*transform; in stead of the current one(transform = transform * current_trans; McCalib/src/McCalib.cpp， line 1128)

[rameau-fr]

Thank you for your interest and feedback.
We will investigate this potential bug and propose a correction if needed.
in your scenario, the original code fails to converge without your suggested adjustment?

[stillfd]

Yes, its not converge in my scenario and after the modification the result converged.
i only use like ~200 pic(per cam) to estimate the pose of every cam, and the inital pose will highly affect the final result.
I noticed sometimes the pose of some cameras are obviously incorrect, so i go through the code and did several tests. and locate this "potential bug"

[shreyas23]

This seems to be a duplicate of #37