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CID-SIMS support (#1676)

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* cid-sims dataset support

* Added cli tool to test CID-SIMS dataset

* removed debug log
This commit is contained in:
matlabbe
2026-03-28 14:33:26 -07:00
committed by GitHub
parent 5b985f69be
commit f94a963463
13 changed files with 1115 additions and 301 deletions
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corelib/src/CameraModel.cpp
+16
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@@ -353,6 +353,22 @@ bool CameraModel::load(const std::string & filePath)
data[0], data[1], data[2], data[3],
data[4], data[5], data[6], data[7],
data[8], data[9], data[10], data[11]);
Transform detCheck = localTransform_.clone();
localTransform_.normalizeRotation(); /// Normalize by default
float det = detCheck.toEigen3f().linear().determinant();
if(fabs(det - 1.0f) > 0.0001)
{
std::stringstream streamBefore, streamAfter;
streamBefore << detCheck << std::endl;
streamAfter << localTransform_ << std::endl;
UWARN("The camera model's local_transform from \"%s\" doesn't "
"have a normalized rotation matrix (dertminant=%f). We will normalize "
"it for convenience.\nWas:\n%sNow\n%s",
filePath.c_str(),
det,
streamBefore.str().c_str(),
streamAfter.str().c_str());
}
}
else
{