save calibration input to file

applications/gui2/src/modules/calibration/calibration.hpp

@@ -412,6 +412,10 @@ public:
 	void updateCalibration(int c);
 	void updateCalibration();
 
+	/** debug methods */
+	void saveInput(const std::string& filename);
+	void loadInput(const std::string& filename);
+
 	ftl::calibration::CalibrationData::Calibration calibration(int camera);
 
 	void setOptions(ftl::calibration::BundleAdjustment::Options options) { state_.calib.setOptions(options); }

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

@@ -292,6 +292,14 @@ void ExtrinsicCalibration::stereoRectify(int cl, int cr,
 	state_.maps2[cr].upload(map2);
 }
 
+void ExtrinsicCalibration::saveInput(const std::string& filename) {
+	state_.calib.points().toFile(filename);
+}
+
+void ExtrinsicCalibration::loadInput(const std::string& filename) {
+	state_.calib.points().fromFile(filename);
+}
+
 void ExtrinsicCalibration::run() {
 	if (running_.exchange(true)) { return; }
 

applications/gui2/src/views/calibration/extrinsicview.cpp

@@ -157,6 +157,9 @@ private:
 	ExtrinsicCalibrationView* view_;
 	ExtrinsicCalibration* ctrl_;
 
+
+	nanogui::Button* bsave_;
+	nanogui::Button* bupload_;
 	nanogui::Button* bcalibrate_;
 	nanogui::Button* bpause_;
 	nanogui::Button* bresults_;
@@ -175,6 +178,26 @@ ExtrinsicCalibrationView::ControlWindow::ControlWindow(nanogui::Widget* parent,
 	buttons->setLayout(new nanogui::BoxLayout
 		(nanogui::Orientation::Horizontal, nanogui::Alignment::Middle, 0, 0));
 
+	bsave_ = new nanogui::Button(buttons, "", ENTYPO_ICON_SAVE);
+	bsave_->setTooltip("Save input to file (Debug)");
+	bsave_->setCallback([this](){
+		ctrl_->saveInput("./calib.bin");
+	});
+
+	bsave_ = new nanogui::Button(buttons, "", ENTYPO_ICON_FOLDER);
+	bsave_->setTooltip("Load input from file (Debug)");
+	bsave_->setCallback([this](){
+		ctrl_->loadInput("./calib.bin");
+	});
+
+	bupload_ = new nanogui::Button(buttons, "", ENTYPO_ICON_UPLOAD);
+	bupload_->setTooltip("Save input to sources");
+	bupload_->setCallback([this](){
+		ctrl_->save();
+		bupload_->setTextColor(nanogui::Color(32, 192, 32, 255));
+		bupload_->setEnabled(false);
+	});
+
 	bresults_ = new nanogui::Button(buttons, "Show Calibration");
 	//bresults_->setEnabled(ctrl_->calib().calibrated());
 	bresults_->setCallback([view = view_, button = bresults_]{
@@ -265,24 +288,30 @@ void ExtrinsicCalibrationView::CalibrationWindow::build() {
 		opts.optimize_intrinsic = !v;
 	});
 
-	auto* ff = new nanogui::CheckBox(wfreeze, "Focal length");
+	auto* ff = new nanogui::CheckBox(wfreeze, "Fix focal length");
 	ff->setChecked(opts_.fix_focal);
 	ff->setCallback([&opts = opts_](bool v) {
 		opts.fix_focal = v;
 	});
 
-	auto* fpp = new nanogui::CheckBox(wfreeze, "Principal point");
+	auto* fpp = new nanogui::CheckBox(wfreeze, "Fix principal point");
 	fpp->setChecked(opts_.fix_principal_point);
 	fpp->setCallback([&opts = opts_](bool v) {
 		opts.fix_principal_point = v;
 	});
 
-	auto* fdist = new nanogui::CheckBox(wfreeze, "Distortion coefficients");
+	auto* fdist = new nanogui::CheckBox(wfreeze, "Fix distortion coefficients");
 	fdist->setChecked(opts_.fix_distortion);
 	fdist->setCallback([&opts = opts_](bool v) {
 		opts.fix_distortion = v;
 	});
 
+	auto* fzdist = new nanogui::CheckBox(wfreeze, "Assume zero distortion");
+	/*fzdist->setChecked(opts_.fix_distortion);
+	fzdist->setCallback([&opts = opts_](bool v) {
+		opts.fix_distortion = v;
+	});*/
+
 	fall->setCallback([wfreeze](bool value){
 		for (int i = 2; i < wfreeze->childCount(); i++) {
 			wfreeze->childAt(i)->setEnabled(!value);

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

@@ -95,7 +95,9 @@ public:
 	/** Get all points. See Points struct. */
 	const std::vector<Points>& all() { return points_; }
 
+	bool toFile(const std::string& fname);
 
+	bool fromFile(const std::string& fname);
 
 protected:
 	bool hasCamera(unsigned int c);

components/calibration/src/extrinsic.cpp

@@ -4,6 +4,9 @@
 #include <ftl/calibration/optimize.hpp>
 #include <ftl/calibration/extrinsic.hpp>
 
+#include <fstream>
+#include <sstream>
+
 #include <opencv2/calib3d.hpp>
 
 ////////////////////////////////////////////////////////////////////////////////
@@ -228,6 +231,25 @@ std::vector<cv::Point3_<T>> CalibrationPoints<T>::getObject(unsigned int object)
 	return objects_[object];
 }
 
+template<typename T>
+bool CalibrationPoints<T>::toFile(const std::string& fname) {
+	std::ofstream ofs(fname);
+	msgpack::pack(ofs, *this);
+	ofs.close();
+	return true;
+}
+
+template<typename T>
+bool CalibrationPoints<T>::fromFile(const std::string& fname) {
+	resetTriangulatedPoints();
+	std::ifstream ifs(fname);
+	std::stringstream buf;
+	buf << ifs.rdbuf();
+	msgpack::object_handle oh = msgpack::unpack(buf.str().data(), buf.str().size());
+	oh.get().convert(*this);
+	return true;
+}
+
 template class CalibrationPoints<float>;
 template class CalibrationPoints<double>;