added output of the final transform to text file (also fixed a small typo)

modules/odm_georef/src/Georef.cpp

@@ -279,6 +279,8 @@ void Georef::parseArguments(int argc, char *argv[])
     logFile_ = std::string(argv[0]) + "_log.txt";
     log_ << logFile_ << "\n";
     
+    finalTransformFile_ = std::string(argv[0]) + "_transform.txt";
+    
     // If no arguments were passed, print help.
     if (argc == 1)
     {
@@ -877,8 +879,10 @@ void Georef::performGeoreferencingWithGCP()
                              gcps_[gcp0].getReferencedPos(), gcps_[gcp1].getReferencedPos(), gcps_[gcp2].getReferencedPos());
     log_ << "Final transform:\n";
     log_ << transFinal.transform_ << '\n';
+    
+    printFinalTransform(transFinal.transform_);
 
-    // The tranform used to transform model into the georeferenced system.
+    // The transform used to transform model into the georeferenced system.
     Eigen::Transform<float, 3, Eigen::Affine> transform;
 
     transform(0, 0) = static_cast<float>(transFinal.transform_.r1c1_);
@@ -1056,7 +1060,9 @@ void Georef::createGeoreferencedModelFromExifData()
     log_ << "Final transform:\n";
     log_ << transFinal.transform_ << '\n';
     
-    // The tranform used to move the chosen area into the ortho photo.
+    printFinalTransform(transFinal.transform_);
+    
+    // The transform used to move the chosen area into the ortho photo.
     Eigen::Transform<float, 3, Eigen::Affine> transform;
     
     transform(0, 0) = static_cast<float>(transFinal.transform_.r1c1_);    transform(1, 0) = static_cast<float>(transFinal.transform_.r2c1_);
@@ -1311,6 +1317,30 @@ void Georef::printGeorefSystem()
 }
 
 
+void Georef::printFinalTransform(Mat4 transform)
+{
+    if(outputObjFilename_.empty())
+    {
+        throw GeorefException("Output file path empty!.");
+    }
+    
+    std::string tmp = outputObjFilename_;
+    size_t findPos = tmp.find_last_of(".");
+    
+    if(std::string::npos == findPos)
+    {
+        throw GeorefException("Tried to generate default ouptut file, could not find .obj in the output file:\n\'"+outputObjFilename_+"\'");
+    }
+    
+    log_ << '\n';
+    log_ << "Saving final transform file to \'" << finalTransformFile_ << "\'...\n";
+    std::ofstream transformStream(finalTransformFile_.c_str());
+    transformStream << transform << std::endl;
+    transformStream.close();
+    log_ << "... final transform saved.\n";
+}
+
+
 bool Georef::loadObjFile(std::string inputFile, pcl::TextureMesh &mesh)
 {
     int data_type;

modules/odm_georef/src/Georef.hpp

@@ -227,6 +227,11 @@ private:
       **/
     void printGeorefSystem();
     
+    /*!
+      * \brief printFinalTransform      Prints a file containing the final transform, next to the output file.
+      **/
+    void printFinalTransform(Mat4 transform);
+    
     /*!
       * \brief Loads a model from an .obj file (replacement for the pcl obj loader).
       *
@@ -248,6 +253,8 @@ private:
     Logger          log_;                       /**< Logging object. */
     std::string     logFile_;                   /**< The path to the output log file. */
     
+    std::string     finalTransformFile_;        /**< The path to the file for the final transform. */
+    
     std::string     bundleFilename_;            /**< The path to the cameras bundle file. **/
     std::string     inputCoordFilename_;        /**< The path to the cameras exif gps positions file. **/
     std::string     outputCoordFilename_;       /**< The path to the cameras georeferenced gps positions file. **/