strand-cam-offline-checkerboards: save mean reproj distance to yaml file

strawlab · Jul 23, 2024 · eb14b44 · eb14b44
1 parent be86e6c
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Showing 2 changed files with 14 additions and 3 deletions.
diff --git a/strand-cam/strand-cam-offline-checkerboards/README.md b/strand-cam/strand-cam-offline-checkerboards/README.md
@@ -59,13 +59,14 @@ results.
 [2024-07-23T10:21:51Z INFO  strand_cam_offline_checkerboards]     None corners.
 [2024-07-23T10:21:51Z INFO  strand_cam_offline_checkerboards] Mean reprojection error: 0.4362869016964986
 [2024-07-23T10:21:51Z INFO  strand_cam_offline_checkerboards] got calibrated intrinsics: RosOpenCvIntrinsics { is_opencv_compatible: true, p: [[1188.8822710588358, 0.0, 0.0], [0.0, 1188.7505371293905, 0.0], [939.1436018463454, 583.0247938879503, 1.0], [0.0, 0.0, 0.0]], k: [[1188.8822710588358, 0.0, 0.0], [0.0, 1188.7505371293905, 0.0], [939.1436018463454, 583.0247938879503, 1.0]], distortion: Distortion([[-0.23420306276397834, 0.07549873880682875, -7.980337104055248e-6, 6.390067664785299e-5, 0.0]]), rect: [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], cache: Cache { pnorm: [[1188.8822710588358, 0.0, 0.0], [0.0, 1188.7505371293905, 0.0], [939.1436018463454, 583.0247938879503, 1.0], [0.0, 0.0, 0.0]], rect_t: [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]], rti: [[1.0, 0.0, 0.0], [0.0, 1.0, 0.0], [0.0, 0.0, 1.0]] } }
-[strand-cam/strand-cam-offline-checkerboards/src/main.rs:129:13] &cam_info_file_stamped = "checkerboard_debug_20240222_164128.20240723_122151.yaml"
 [2024-07-23T10:21:51Z INFO  strand_cam_offline_checkerboards] Saved camera calibration to file: checkerboard_debug_20240222_164128.yaml
 ```
 
 The file `checkerboard_debug_20240222_164128.yaml` should have contents like this:
 
 ```
+# Saved by strand-cam-offline-checkerboards at 2024-07-23 13:51:24.460886 +02:00
+# Mean reprojection distance: 0.44
 image_width: 1920
 image_height: 1200
 camera_name: checkerboard_debug_20240222_164128

diff --git a/strand-cam/strand-cam-offline-checkerboards/src/main.rs b/strand-cam/strand-cam-offline-checkerboards/src/main.rs
@@ -126,15 +126,25 @@ fn main() -> Result<()> {
             let format_str = format!("{}.%Y%m%d_%H%M%S.yaml", ros_cam_name.as_str());
             let local = chrono::Local::now();
             let cam_info_file_stamped = local.format(&format_str).to_string();
-            dbg!(&cam_info_file_stamped);
 
             let cam_info_file = format!("{}.yaml", ros_cam_name);
 
             // Save timestamped version first for backup purposes (since below
             // we overwrite the non-timestamped file).
             {
-                let f = std::fs::File::create(&cam_info_file_stamped)
+                let mut f = std::fs::File::create(&cam_info_file_stamped)
                     .with_context(|| format!("Saving file {cam_info_file_stamped}"))?;
+                std::io::Write::write_all(
+                    &mut f,
+                    format!(
+                        "# Saved by {} at {}\n\
+                        # Mean reprojection distance: {:.2}\n",
+                        env!["CARGO_PKG_NAME"],
+                        local,
+                        raw_opencv_cal.mean_reprojection_error
+                    )
+                    .as_bytes(),
+                )?;
                 serde_yaml::to_writer(f, &ci)?;
             }