Merge branch 'feature/gui2' of gitlab.utu.fi:nicolas.pope/ftl into feature/gui2

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

@@ -298,7 +298,6 @@ void ExtrinsicCalibration::run() {
 
 	future_ = ftl::pool.push([this](int id) {
 		try {
-			LOG(INFO) << "Before:"; // DEBUG INFO
 			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;
@@ -308,13 +307,9 @@ void ExtrinsicCalibration::run() {
 			}
 
 			state_.calib.run();
-			LOG(INFO) << "After:"; // DEBUG INFO
 			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 (" << c << ", " << c + 1 << "): "
-						  << cv::norm(t1, t2);
 			}
 
 			// Rectification maps for visualization; stereo cameras assumed

components/calibration/src/extrinsic.cpp

@@ -636,12 +636,6 @@ double ExtrinsicCalibration::optimize() {
 
 	updateStatus_("Bundle adjustment");
 	options_.verbose = true;
-	for (unsigned int i = 0; i < cameras.size(); i++) {
-		LOG(INFO) << "RMSE (camera " << i << "): " << ba.reprojectionError(i);
-		auto extr = cameras[i].extrinsic();
-		LOG(INFO) << extr.rvec << ", " << extr.tvec;
-	}
-
 	LOG(INFO) << "fix intrinsics: " << (options_.optimize_intrinsic ? "no" : "yes");
 	LOG(INFO) << "fix focal: " << (options_.fix_focal ? "yes" : "no");
 	LOG(INFO) << "fix principal point: " << (options_.fix_principal_point ? "yes" : "no");
@@ -656,8 +650,6 @@ double ExtrinsicCalibration::optimize() {
 		calib_optimized_[i] = calib_[i];
 		calib_optimized_[i].intrinsic.set(intr.matrix(), intr.distCoeffs.Mat(), intr.resolution);
 		calib_optimized_[i].extrinsic.set(extr.rvec, extr.tvec);
-		LOG(INFO) << "RMSE (camera " << i << "): " << ba.reprojectionError(i);
-		LOG(INFO) << calib_optimized_[i].extrinsic.rvec << ", " << calib_optimized_[i].extrinsic.tvec;
 	}
 
 	return ba.reprojectionError();

components/calibration/src/optimize.cpp

@@ -295,11 +295,6 @@ void BundleAdjustment::_setCameraParametrization(ceres::Problem &problem, const
 		}
 	}
 
-	if (!options.fix_distortion) {
-		LOG(WARNING) << "Optimization of distortion parameters is not supported"
-					 << "and results may contain invalid values.";
-	}
-
 	// intrinsic parameters
 	if (!options.optimize_intrinsic || options.fix_focal) {
 		constant_camera_parameters.push_back(Camera::Parameter::F);