More than 3 cameras in the system !

[sooroosh]

Hi, Can anyone suggest how to change the number of cameras in the system to 4 ? I have changed: CameraSystem.nrCams in the MultiCamSys_Calibration.yaml to 4 and added the parameters for the 4th camera. Added InteriorOrientationFisheye3.yaml for the 4th camera. put the images for the 4tch camera in cam3 directory of the dataset and changed images_and_timestamps.txt respectively. changed the following lines in the mult_col_slam_lafida.cpp : line 173 to: vstrImageFilenames.resize(4); line 188 till 200:

			string pathimg1, pathimg2, pathimg3,pathimg4;
			if (!(iss >> timestamp >> pathimg1 >> pathimg2 >> pathimg3 >> pathimg4))
				break;
			vTimestamps.push_back(timestamp);
			vstrImageFilenames[0].push_back(path2imgs + '/' + pathimg1);
			vstrImageFilenames[1].push_back(path2imgs + '/' + pathimg2);
			vstrImageFilenames[2].push_back(path2imgs + '/' + pathimg3);
			vstrImageFilenames[3].push_back(path2imgs + '/' + pathimg4);
		}
		++cnt;

	}
}

However, when I run the program I get a segmentation fault error. what am I missing here ?