Verify that the saving of the optimized dataset is working

[miguelriemoliveira]

FYI @tiagomfmadeira

We are having problems with txts.

I now did a very simple test, to save exactly the same that was loaded, and the txts on the optmized dataset are not the same as in the original dataset ... something is wrong here

[miguelriemoliveira]

It does not seem to work at all, here is the comparison between two txt files which should be exatcly the same if no optimization is performed

[miguelriemoliveira]

... and the Initial and the final values of the parameters are the same (as expected). Thus, it should be something on the dataset exporting (@tiagomfmadeira , you are on the hotseat)

Initial parameters
          Group         x      data
C000_tx  C000_t -0.013927 -0.013927
C000_ty  C000_t -0.015753 -0.015753
C000_tz  C000_t -0.006966 -0.006966
C000_r1  C000_r  2.690336  2.690336
C000_r2  C000_r -0.009323 -0.009323
C000_r3  C000_r -0.010173 -0.010173
A409_tx    A409 -0.282415 -0.282415
A409_ty    A409 -0.308603 -0.308603
A409_tz    A409 -1.753672 -1.753672
A437_tx    A437 -0.063417 -0.063417
A437_ty    A437 -0.304077 -0.304077
A437_tz    A437 -1.868046 -1.868046

Final parameters
          Group         x      data
C000_tx  C000_t -0.013927 -0.013927
C000_ty  C000_t -0.015753 -0.015753
C000_tz  C000_t -0.006966 -0.006966
C000_r1  C000_r  2.690336  2.690336
C000_r2  C000_r -0.009323 -0.009323
C000_r3  C000_r -0.010173 -0.010173
A409_tx    A409 -0.282415 -0.282415
A409_ty    A409 -0.308603 -0.308603
A409_tz    A409 -1.753672 -1.753672
A437_tx    A437 -0.063417 -0.063417
A437_ty    A437 -0.304077 -0.304077
A437_tz    A437 -1.868046 -1.868046

[miguelriemoliveira]

Now it works ...

... but I don't understand these transforms ...

https://github.com/miguelriemoliveira/OptimizationUtils/blob/7966e02c0faf0a9135b0a2c85c97d13dccde16a2/test/camera_pose_oc_dataset.py#L420

[miguelriemoliveira]

Hi @tiagomfmadeira is this working? Did you commit?

[tiagomfmadeira]

Yes @miguelriemoliveira, it seems to be working.