Rework of camera-lidar calibration, point picking, optimization - #488
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Signed-off-by: Michal Pelka <michalpelka@gmail.com>
…is offset Extrinsics' om/fi/ka now represent a small rotation away from a constant kCameraLidarAxisOffset (the camera/LiDAR coordinate-convention alignment), instead of the full rotation directly. This makes the all-zero default already a physically sensible starting pose and keeps a real calibration's solved values far from the om/fi/ka gimbal-lock point (fi=+/-90 deg), which previously sat right on top of the default and made the very first solve of a session start on a rank-deficient normal-equations block. CameraCalibrationSolver threads the offset through the LM solve via a one-time point/translation rotation, so the vendored observation equations and the solve loop itself are untouched. Camera.h/.cpp now reuse core's own pose_tait_bryan_from_affine_matrix/affine_matrix_from_pose_tait_bryan for the om/fi/ka<->matrix conversion instead of duplicating that math. Saved calibration JSON now stores rotation as a matrix only (camera_rotation_matrix_in_world) -- convention-independent and portable -- instead of also carrying an om/fi/ka angle key; camera_lidar_calibration and camera_lidar_trajectory_viewer both decode it back into om/fi/ka on load. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
TrajectoryViewer only ever reads a saved calibration; it had no reason to decode the file's rotation matrix into Extrinsics' om/fi/ka and reconvert back to a matrix at every use site (coloring, frustum draw, COLMAP export, ROS TF export). Store the loaded R_wc directly and use it as-is, dropping the omFiKaToMat3/omFiKaFromMat3 round trip.
AppleScript's choose-file-name only accepts a folder for default location; appending the filename broke it before any dialog showed.
Signed-off-by: Michal Pelka <michalpelka@gmail.com>
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So: