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Add export functionality for 3D points and a visualization tool #55

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e3099c3
When saving the dataset also create a YAML file for each image with t…
abrock Aug 19, 2021
4bacdc6
Export raw data of visualization and provide tool for visualizing rep…
abrock Aug 19, 2021
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20 changes: 19 additions & 1 deletion applications/camera_calibration/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -220,7 +220,25 @@ if (CMAKE_CUDA_COMPILER)
set_target_properties(camera_calibration PROPERTIES
POSITION_INDEPENDENT_CODE ON
)


# Tool for generating visualizations from reprojection error data provided by other software
add_executable(report_from_data
src/camera_calibration/report_from_data.cc
)
target_include_directories(report_from_data PRIVATE
src
third_party/yaml-cpp-0.6.0/include
)
target_link_libraries(report_from_data PRIVATE
camera_calibration_baselib
${Boost_LIBRARIES}
yaml-cpp2
libvis_external_io
)
set_target_properties(report_from_data PROPERTIES
POSITION_INDEPENDENT_CODE ON
)


# Resource files for unit tests
ADD_CUSTOM_TARGET(camera_calibration_test_resources ALL
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11 changes: 8 additions & 3 deletions applications/camera_calibration/src/camera_calibration/calibration.cc
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Expand Up @@ -242,6 +242,7 @@ void RunBundleAdjustment(
// Save the optimization state
if (state_output_path) {
SaveBAState(state_output_path, *state);
SaveDatasetAndState(state_output_path, *dataset, *state);
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@puzzlepaint puzzlepaint Oct 26, 2021

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Saving the dataset to the state_output_path each time that the state is saved would be a behavior change. I think that such a behavior should either be behind a specific flag (e.g., save_dataset_with_state) or the state_output_path should be renamed to fit its changed semantic.

}

// Beautify all camera orientations
Expand Down Expand Up @@ -1115,7 +1116,11 @@ bool Calibrate(
}

if (dataset_output_path) {
SaveDataset(dataset_output_path, *dataset);
SaveDatasetAndState(dataset_output_path, *dataset, *state);
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@puzzlepaint puzzlepaint Oct 26, 2021

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Here, a similar comment applies as above, since this would now always save the state with the dataset. Also for the two instances below.

LOG(INFO) << "Saved dataset at " << dataset_output_path;
}
else {
LOG(INFO) << "Didn't save dataset";
}
}

Expand Down Expand Up @@ -1322,10 +1327,10 @@ void CalibrateBatch(

// Save the resulting calibration.
if (!state_output_directory.empty()) {
SaveBAState(state_output_directory.c_str(), calibration);
SaveDatasetAndState(state_output_directory.c_str(), dataset, calibration);
}
if (!pruned_dataset_output_path.empty()) {
SaveDataset(pruned_dataset_output_path.c_str(), dataset);
SaveDatasetAndState(pruned_dataset_output_path.c_str(), dataset, calibration);
}

// Create the calibration error report.
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