merge_cameras.cc

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#include <iostream>
#include <fstream>
#include <string>
#include <cstdlib>
#include "../lib/args.h"
#include "../lib/assert.h"
#include "../lib/camera.h"

using namespace tlz;

int main(int argc, const char* argv[]) {
    get_args(argc, argv, "in_cameras1.json in_cameras2.json out_cameras.json [common_camera]");
    camera_array cameras1 = cameras_arg();
    camera_array cameras2 = cameras_arg();
    std::string out_cameras_filename = out_filename_arg();
    std::string common_camera_name = string_opt_arg();
        
    auto cameras1_map = cameras_map(cameras1);
    auto cameras2_map = cameras_map(cameras2);
    
    camera_array out_cameras = cameras1;
    
    if(common_camera_name.empty()) {
        for(const camera& cam : cameras2) {
            const std::string& name = cam.name;
            if(cameras1_map.find(name) != cameras1_map.end()) continue;
            out_cameras.push_back(cam);
        }
        
    } else {
        if(cameras1_map.find(common_camera_name) == cameras1_map.end())
            throw std::runtime_error("common_camera not in in_cameras1.json");
        if(cameras2_map.find(common_camera_name) == cameras2_map.end())
            throw std::runtime_error("common_camera not in in_cameras2.json");
        
        const camera& cam1 = cameras1_map.at(common_camera_name);
        const camera& cam2 = cameras2_map.at(common_camera_name);
        mat44 transformation = cam1.extrinsic() * cam2.extrinsic_inv();

        for(const camera& cam : cameras2) {
            const std::string& name = cam.name;
            if(cameras1_map.find(name) != cameras1_map.end()) continue;
            camera transformed_cam = cam;
            mat44 ex = transformed_cam.extrinsic();
            transformed_cam.set_extrinsic(transformation * ex);
            out_cameras.push_back(transformed_cam);
        }

    }
    
    export_cameras_file(out_cameras, out_cameras_filename);
}