void WriteFile(const std::string& filename) {
std::ofstream of(filename.c_str());
of<< "ply"
<< '\n' << "format ascii 1.0"
<< '\n' << "element vertex " << num_cameras_ + num_points_
<< '\n' << "property float x"
<< '\n' << "property float y"
<< '\n' << "property float z"
<< '\n' << "property uchar red"
<< '\n' << "property uchar green"
<< '\n' << "property uchar blue"
<< '\n' << "end_header" << std::endl;
// Export extrinsic data (i.e. camera centers) as green points.
double angle_axis[3];
double center[3];
for(int i = 0; i < num_cameras_; ++i){
const double* camera = mutable_cameras() + 9 * i;
ceres::AngleAxisRotatePoint(camera, angle_axis, center);
of << center[0] << ' ' << center[1] << ' ' << center[2]
<< "0 255 0" << '\n';
}
// Export the structure (i.e. 3D Points) as white points.
const double* points = parameters_ + 9 * num_cameras_;
for(int i = 0; i < num_points_; ++i){
const double* point = points + i * 3;
for(int j = 0; j < 3; ++j){
of << point[j] << ' ';
}
of << "255 255 255\n";
}
of.close();
}
/// Return a pointer to the camera that observe the Inth observation
double* mutable_camera_for_observation(size_t i) {
return mutable_cameras() + camera_index_[i] * NCamParam;
}
double* mutable_camera_for_observation(int i) {
return mutable_cameras() + camera_index_[i] * 9;
}
