From d658c0e5933b17f175ec5c7739c040bd26726ff4 Mon Sep 17 00:00:00 2001
From: uvos <devnull@uvos.xyz>
Date: Mon, 23 Aug 2021 19:17:48 +0200
Subject: [PATCH] Renove black regidon when a board less than the board size is
 used (Experiamental)

---
 src/charuco.cpp | 8 ++++++--
 src/main.cpp    | 2 +-
 2 files changed, 7 insertions(+), 3 deletions(-)

diff --git a/src/charuco.cpp b/src/charuco.cpp
index 8628e0e..c6138f1 100644
--- a/src/charuco.cpp
+++ b/src/charuco.cpp
@@ -55,11 +55,14 @@ static void seamAjust(std::vector<DetectedPoint>& detections)
 	
 	Log(Log::DEBUG)<<"Image contains seam";
 	
+	int rightMostPoint = 0;
 	bool extantCol[X_BOARD_SIZE] = {0};
 	for(auto& point : detections)
 	{
 		if(!extantCol[point.coordinate.x])
 			extantCol[point.coordinate.x] = true;
+		if(point.coordinate.x > rightMostPoint)
+			rightMostPoint = point.coordinate.x;
 	}
 	
 	int leftCoordinate = 0;
@@ -79,12 +82,13 @@ static void seamAjust(std::vector<DetectedPoint>& detections)
 		}
 	}
 	
-	Log(Log::DEBUG)<<"Left coordinate before seam "<<leftCoordinate;
+	Log(Log::DEBUG)<<"Left coordinate before seam "<<leftCoordinate
+	               <<" right most "<<rightMostPoint;
 	
 	for(auto& point : detections)
 	{
 		if(point.coordinate.x < leftCoordinate)
-			point.coordinate.x = point.coordinate.x + X_BOARD_SIZE;
+			point.coordinate.x = point.coordinate.x + point.coordinate.x;
 	}
 }
 
diff --git a/src/main.cpp b/src/main.cpp
index 562dfbe..e61d8bd 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -95,7 +95,7 @@ cv::Mat openImageYml(char* fileName)
 	cv::FileStorage matf(fileName, cv::FileStorage::READ);
 	matf["image"]>>image;
 
-	if(matf.isOpened() && (!image.data || image.type() != CV_32FC1))
+	if(matf.isOpened() && !image.data)
 	{
 		Log(Log::WARN)<<fileName<<" dose not contain a valid image";
 		matf.release();