serialize calibration data with msgpack

applications/gui2/src/modules/calibration/extrinsic.cpp

@@ -297,25 +297,24 @@ void ExtrinsicCalibration::run() {
 
 	future_ = ftl::pool.push([this](int id) {
 		try {
-			state_.calib.run();
 			LOG(INFO) << "Before:"; // DEBUG INFO
-			for (int c1 = 0; c1 < cameraCount(); c1++) {
-			for (int c2 = c1; c2 < cameraCount(); c2++) {
-				auto t1 = state_.calib.calibration(c1).extrinsic.tvec;
-				auto t2 = state_.calib.calibration(c2).extrinsic.tvec;
+			for (int c = 0; c < cameraCount(); c += 2) {
+				auto t1 = state_.calib.calibration(c).extrinsic.tvec;
+				auto t2 = state_.calib.calibration(c + 1).extrinsic.tvec;
 
-				LOG(INFO) << "baseline (" << c1 << ", " << c2 << "): "
+				LOG(INFO) << "baseline (" << c << ", " << c + 1 << "): "
 						  << cv::norm(t1, t2);
-			}}
+			}
+
+			state_.calib.run();
 			LOG(INFO) << "After:"; // DEBUG INFO
-			for (int c1 = 0; c1 < cameraCount(); c1++) {
-			for (int c2 = c1; c2 < cameraCount(); c2++) {
-				auto t1 = state_.calib.calibrationOptimized(c1).extrinsic.tvec;
-				auto t2 = state_.calib.calibrationOptimized(c2).extrinsic.tvec;
+			for (int c = 0; c < cameraCount(); c += 2) {
+				auto t1 = state_.calib.calibrationOptimized(c).extrinsic.tvec;
+				auto t2 = state_.calib.calibrationOptimized(c + 1).extrinsic.tvec;
 
-				LOG(INFO) << "baseline (" << c1 << ", " << c2 << "): "
+				LOG(INFO) << "baseline (" << c << ", " << c + 1 << "): "
 						  << cv::norm(t1, t2);
-			}}
+			}
 
 			// Rectification maps for visualization; stereo cameras assumed
 			// if non-stereo cameras added visualization/grouping (by index)

components/calibration/include/ftl/calibration/extrinsic.hpp

@@ -5,6 +5,8 @@
 #include <ftl/calibration/optimize.hpp>
 #include <opencv2/core.hpp>
 
+#include <ftl/utility/msgpack.hpp>
+
 #include <set>
 
 namespace ftl {
@@ -34,6 +36,8 @@ public:
 				 std::vector<cv::Point3_<T>>> triangulated;
 
 		bool has(unsigned int c) const { return (cameras & (uint64_t(1) << c)); }
+
+		MSGPACK_DEFINE(cameras, object, points, triangulated);
 	};
 
 	CalibrationPoints() : count_(0), visibility_(64), current_{0, ~(unsigned int)(0), {}, {}} {};
@@ -99,6 +103,9 @@ private:
 	Points current_;
 	std::vector<Points> points_;
 	std::vector<std::vector<cv::Point3_<T>>> objects_;
+
+public:
+	MSGPACK_DEFINE(count_, visibility_, points_, objects_);
 };
 
 /**

components/calibration/include/ftl/calibration/visibility.hpp

@@ -5,6 +5,8 @@
 #include <vector>
 #include <string>
 
+#include <ftl/utility/msgpack.hpp>
+
 namespace ftl {
 namespace calibration {
 
@@ -89,6 +91,9 @@ class Visibility {
 	std::vector<std::vector<int>> graph_;
 	// masked values (mask_[i][j]) are not used
 	std::vector<std::vector<bool>> mask_;
+
+public:
+	MSGPACK_DEFINE(n_cameras_, n_max_, graph_, mask_);
 };
 
 }

components/calibration/src/extrinsic.cpp

 #include <loguru.hpp>
 
 #include <ftl/exception.hpp>
-
 #include <ftl/calibration/optimize.hpp>
 #include <ftl/calibration/extrinsic.hpp>
 
@@ -416,8 +415,11 @@ void ExtrinsicCalibration::calculatePairPoses() {
 		auto object = points().getObject(0);
 		cv::Mat R, t;
 		std::vector<cv::Point3d> points3d;
-		calibratePair(K1, distCoeffs1, K2, distCoeffs2, pts[0], pts[1], object,
-					  R, t, points3d, true);
+		auto rms = calibratePair(K1, distCoeffs1, K2, distCoeffs2,
+			pts[0], pts[1], object, R, t, points3d, true);
+
+		// debug info
+		LOG(INFO) << "RMSE (cameras " << c1 << " & " << c2 << "): " << rms;
 
 		points().setTriangulatedPoints(c1, c2, points3d);