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https://github.com/tkonolige/city2ba
Tools for generating synthetic bundle adjustment datasets
https://github.com/tkonolige/city2ba
bundle-adjustment
Last synced: about 2 months ago
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Tools for generating synthetic bundle adjustment datasets
- Host: GitHub
- URL: https://github.com/tkonolige/city2ba
- Owner: tkonolige
- License: bsd-2-clause
- Created: 2020-02-16T05:06:08.000Z (almost 5 years ago)
- Default Branch: master
- Last Pushed: 2023-01-11T00:35:45.000Z (almost 2 years ago)
- Last Synced: 2024-08-10T10:25:32.443Z (5 months ago)
- Topics: bundle-adjustment
- Language: Rust
- Size: 138 KB
- Stars: 19
- Watchers: 5
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: Readme.md
- License: LICENSE
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README
# City2BA
[](https://docs.rs/city2ba)
A collection of tools for generating synthetic bundle adjustment datasets.
Datasets can either be generated programatically via the library or using the included executables. When using `SnavelyCamera`s, the coordinate system is -z forward, y up.
```bash
# Generate a problem from a 3D model
city2ba generate test_scene.obj problem.bal --cameras 100 --points 200
# Add noise to the problem
city2ba noise problem.bal problem_noised.bal --drift-strength 0.001 --rotation-std 0.0001
# Generate a problem using a city block grid
city2ba synthetic problem.bal --blocks 4
# Convert a problem to a format for visualization
city2ba ply problem.bal problem.ply
```
## Installation
First install embree (available at [https://github.com/embree/embree](https://github.com/embree/embree)). Then install cargo to build the code and dependencies ([https://rustup.rs](https://rustup.rs) is the easiest way to get cargo).
To install the latest stable version run:
```bash
EMBREE_DIR=/path/to/embree/lib cargo install city2ba
```
Make sure to point `EMBREE_DIR` to the `lib` directory inside of the directory
where you installed embree.
To build the latest version run:
```bash
git clone https://github.com/tkonolige/city2ba.git
cd city2ba
EMBREE_DIR=/path/to/embree/lib cargo install --path .
```
Make sure to point `EMBREE_DIR` to the `lib` directory inside of the directory
where you installed embree.
The `city2ba` binary is installed into `$HOME/.cargo/bin`. In order to run the
binary you will need to add this directory to your `PATH` (you can do this with
`export PATH="$HOME/.cargo/bin:$PATH"`, you may want to add this to your
`.bashrc` or equivalent).
A simple scene is provided in `test_scene.obj` for you to experiment with. You can download it from [https://github.com/tkonolige/city2ba/raw/master/test_scene.obj](https://github.com/tkonolige/city2ba/raw/master/test_scene.obj).
## Development
Build City2BA locally with:
```bash
git clone https://github.com/tkonolige/city2ba.git
cd city2ba
cargo build --release # release mode is recommended for performance
```
Run tests with:
```bash
cargo test
```
Executables can be run with:
```bash
cargo --release ARGS GO HERE
```
## Contributing and Support
Please use the GitHub issue tracker to report issues, ask questions, and submit patches.