City2BA

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.ply

Installation

First 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 city2ba

Make 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.

Development

Build City2BA locally with:

git clone https://github.com/tkonolige/city2ba.git
cd city2ba
cargo build --release # release mode is recommended for performance

Run tests with:

cargo test

Executables can be run with:

cargo --release ARGS GO HERE

Contributing and Support

Please use the GitHub issue tracker to report issues, ask questions, and submit patches.