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functional bundler export (camera orientations are correct in MeshLab)

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This commit is contained in:
Mathieu Labbé
2015-08-10 17:12:55 -04:00
parent c373186d2f
commit 9c653655bd
1 changed files with 20 additions and 10 deletions
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30
guilib/src/MainWindow.cpp
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@@ -4632,30 +4632,40 @@ void MainWindow::exportBundlerFormat()
UERROR("Failed to save image %s", p.toStdString().c_str());
}
Transform localTransform;
if(_cachedSignatures[iter->first].sensorData().cameraModels().size())
{
out << _cachedSignatures[iter->first].sensorData().cameraModels().at(0).fx() << " 0 0\n";
localTransform = _cachedSignatures[iter->first].sensorData().cameraModels().at(0).localTransform();
}
else
{
out << _cachedSignatures[iter->first].sensorData().stereoCameraModel().left().fx() << " 0 0\n";
localTransform = _cachedSignatures[iter->first].sensorData().stereoCameraModel().left().localTransform();
}
out << iter->second.r11() << " " << iter->second.r12() << " " << iter->second.r13() << "\n";
out << iter->second.r21() << " " << iter->second.r22() << " " << iter->second.r23() << "\n";
out << iter->second.r31() << " " << iter->second.r32() << " " << iter->second.r33() << "\n";
out << iter->second.x() << " " << iter->second.y() << " " << iter->second.z() << "\n";
Transform rotation(0,-1,0,0,
0,0,1,0,
-1,0,0,0);
//double t[3];
//matrix_product(3, 3, 3, 1, cameras[idx].R, cameras[idx].t, t);
//matrix_scale(3, 1, t, -1.0, t);
//fprintf(f, "%0.10e %0.10e %0.10e\n", t[0], t[1], t[2]);
Transform R = rotation*iter->second.rotation().inverse();
out << R.r11() << " " << R.r12() << " " << R.r13() << "\n";
out << R.r21() << " " << R.r22() << " " << R.r23() << "\n";
out << R.r31() << " " << R.r32() << " " << R.r33() << "\n";
Transform t = R * iter->second.translation();
t.x() *= -1.0f;
t.y() *= -1.0f;
t.z() *= -1.0f;
out << t.x() << " " << t.y() << " " << t.z() << "\n";
}
QMessageBox::Button b = QMessageBox::question(this,
tr("Exporting cameras in Bundler format..."),
tr("%1 cameras/images exported to directory \"%2\".\nDo you want to export the cloud/mesh (PLY)?").arg(poses.size()).arg(path));
if(b == QMessageBox::Ok)
tr("%1 cameras/images exported to directory \"%2\".\nDo you want to export the cloud/mesh (PLY)?").arg(poses.size()).arg(path),
QMessageBox::Yes | QMessageBox::No);
if(b == QMessageBox::Yes)
{
this->exportClouds();
}