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Write 3D points to file #125

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Write 3D points to file #125

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33 changes: 32 additions & 1 deletion src/IOWrapper/OutputWrapper/SampleOutputWrapper.h
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/**
* This file is part of DSO.
*
*
* Copyright 2016 Technical University of Munich and Intel.
* Developed by Jakob Engel <engelj at in dot tum dot de>,
* for more information see <http://vision.in.tum.de/dso>.
Expand Down Expand Up @@ -76,6 +76,19 @@ class SampleOutputWrapper : public Output3DWrapper

virtual void publishKeyframes( std::vector<FrameHessian*> &frames, bool final, CalibHessian* HCalib)
{
float fx = HCalib->fxl();
float fy = HCalib->fyl();
float cx = HCalib->cxl();
float cy = HCalib->cyl();
float fxi = 1/fx;
float fyi = 1/fy;
float cxi = -cx / fx;
float cyi = -cy / fy;

// Open stream to write in file "points.ply"
std::ofstream output_points;
output_points.open("points.ply", std::ios_base::app);

for(FrameHessian* f : frames)
{
printf("OUT: KF %d (%s) (id %d, tme %f): %d active, %d marginalized, %d immature points. CameraToWorld:\n",
Expand All @@ -95,7 +108,25 @@ class SampleOutputWrapper : public Output3DWrapper
maxWrite--;
if(maxWrite==0) break;
}

auto const & m = f->shell->camToWorld.matrix3x4();
auto const & points = f->pointHessiansMarginalized;

for (auto const * p : points) {
float depth = 1.0f / p->idepth;
auto const x = (p->u * fxi + cxi) * depth;
auto const y = (p->v * fyi + cyi) * depth;
auto const z = depth * (1 + 2*fxi);

Eigen::Vector4d camPoint(x, y, z, 1.f);
Eigen::Vector3d worldPoint = m * camPoint;

output_points << worldPoint.transpose() << std::endl;
}
}

// Close steam
output_points.close();
}

virtual void publishCamPose(FrameShell* frame, CalibHessian* HCalib)
Expand Down