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src/calibrate.cpp

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+/**
+BSD 3-Clause License
+
+This file is part of the Basalt project.
+https://gitlab.com/VladyslavUsenko/basalt.git
+
+Copyright (c) 2019, Vladyslav Usenko and Nikolaus Demmel.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of the copyright holder nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#include <basalt/calibration/cam_calib.h>
+
+#include <CLI/CLI.hpp>
+
+int main(int argc, char **argv) {
+  std::string dataset_path;
+  std::string dataset_type;
+  std::string aprilgrid_path;
+  std::string result_path;
+  std::vector<std::string> cam_types;
+  std::string cache_dataset_name = "calib-cam";
+  int skip_images = 1;
+
+  CLI::App app{"Calibrate IMU"};
+
+  app.add_option("--dataset-path", dataset_path, "Path to dataset")->required();
+  app.add_option("--result-path", result_path, "Path to result folder")
+      ->required();
+  app.add_option("--dataset-type", dataset_type, "Dataset type (euroc, bag)")
+      ->required();
+
+  app.add_option("--aprilgrid", aprilgrid_path,
+                 "Path to Aprilgrid config file)")
+      ->required();
+
+  app.add_option("--cache-name", cache_dataset_name,
+                 "Name to save cached files");
+
+  app.add_option("--skip-images", skip_images, "Number of images to skip");
+  app.add_option("--cam-types", cam_types,
+                 "Type of cameras (eucm, ds, kb4, pinhole)")
+      ->required();
+
+  try {
+    app.parse(argc, argv);
+  } catch (const CLI::ParseError &e) {
+    return app.exit(e);
+  }
+
+  basalt::CamCalib cv(dataset_path, dataset_type, aprilgrid_path, result_path,
+                      cache_dataset_name, skip_images, cam_types);
+
+  cv.renderingLoop();
+
+  return 0;
+}