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Use value of KALIBR_MANUAL_FOCAL_LENGTH_INIT as initial guess #735

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Use value of KALIBR_MANUAL_FOCAL_LENGTH_INIT as initial guess #735

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eb74255
Use value of KALIBR_MANUAL_FOCAL_LENGTH_INIT as initial guess
davidtvs Feb 19, 2025
d377924
Prompt user if KALIBR_MANUAL_FOCAL_LENGTH_INIT is empty
davidtvs Feb 19, 2025
65a8358
Handle empty env. variable
davidtvs Feb 19, 2025
4bf2c6b
Improve cout message
davidtvs Feb 27, 2025
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21 changes: 10 additions & 11 deletions aslam_cv/aslam_cameras/include/aslam/cameras/implementation/PinholeProjection.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -780,20 +780,19 @@ bool PinholeProjection<DISTORTION_T>::initializeIntrinsics(const std::vector<Gri
}
}
if(f_guesses.empty()) {
std::cout << "Initialization of focal length failed." << std::endl;
const char* manual_input = std::getenv("KALIBR_MANUAL_FOCAL_LENGTH_INIT");
if(manual_input != nullptr) {
double input_guess;
std::cout << "Initialization of focal length failed. Provide manual initialization: " << std::endl;
std::cin >> input_guess;
SM_ASSERT_GT(std::runtime_error, input_guess, 0.0,
"Focal length needs to be positive.");
std::cout << "Initializing focal length to " << input_guess << std::endl;
f_guesses.push_back(input_guess);
double input_guess;
if(manual_input != nullptr && manual_input[0] != '\0') {
input_guess = std::stod(manual_input);
} else {
std::cout << "Initialization of focal length failed. You can enable"
<< " manual input by setting 'KALIBR_MANUAL_FOCAL_LENGTH_INIT'." << std::endl;
return false;
std::cout << "Provide manual initialization: " << std::endl;
std::cin >> input_guess;
}
SM_ASSERT_GT(std::runtime_error, input_guess, 0.0,
"Focal length needs to be positive.");
std::cout << "Initializing focal length to " << input_guess << std::endl;
f_guesses.push_back(input_guess);
}
// Get the median of the guesses if available.
double f0 = PinholeHelpers::medianOfVectorElements(f_guesses);
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