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 SnavelyCameras, the coordinate system is -z forward, y up.
# 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.plyFirst install embree (available at https://github.com/embree/embree). Then install cargo to build the code and dependencies (https://rustup.rs is the easiest way to get cargo).
To install the latest stable version run:
EMBREE_DIR=/path/to/embree/lib cargo install city2baMake sure to point EMBREE_DIR to the lib directory inside of the directory
where you installed embree.
To build the latest version run:
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.
Build City2BA locally with:
git clone https://github.com/tkonolige/city2ba.git
cd city2ba
cargo build --release # release mode is recommended for performanceRun tests with:
cargo testExecutables can be run with:
cargo --release ARGS GO HEREPlease use the GitHub issue tracker to report issues, ask questions, and submit patches.