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Adjust to updated skelda camera format.

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This commit is contained in:
Daniel
2025-03-06 16:04:46 +01:00
parent d8fee53284
commit 63f373e7ec
15 changed files with 723 additions and 724 deletions
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0.5162966551, 0.5162966551,
0.856305686,
-0.01335424781
],
[
0.1418829708, 0.1418829708,
-0.100903213, -0.8445750331
-0.9847272537
], ],
[ [
-0.8445750331, 0.856305686,
0.506516647, -0.100903213,
0.506516647
],
[
-0.01335424781,
-0.9847272537,
-0.173591186 -0.173591186
] ]
], ],
"T": [ "T": [
[ [
2.3622899999572237 2.3622899999572238
], ],
[ [
-1.4287400000296793 -1.4287400000296793

32
data/q1/sample.json
View File

@ -8,17 +8,17 @@
"R": [ "R": [
[ [
-0.860039, -0.860039,
0.507047,
0.05688
],
[
0.092576, 0.092576,
0.264702, -0.501759
-0.959876
], ],
[ [
-0.501759, 0.507047,
-0.820266, 0.264702,
-0.820266
],
[
0.05688,
-0.959876,
-0.274595 -0.274595
] ]
], ],
@ -65,17 +65,17 @@
"R": [ "R": [
[ [
0.88179, 0.88179,
0.471104,
-0.022521
],
[
0.060883, 0.060883,
-0.161048, -0.467696
-0.985067
], ],
[ [
-0.467696, 0.471104,
0.867251, -0.161048,
0.867251
],
[
-0.022521,
-0.985067,
-0.170693 -0.170693
] ]
], ],

4
rpt/triangulator.cpp
View File

@ -1021,7 +1021,7 @@ TriangulatorInternal::project_poses(
// Get camera parameters // Get camera parameters
const std::array<std::array<float, 3>, 3> &K = icam.newK; const std::array<std::array<float, 3>, 3> &K = icam.newK;
const std::array<std::array<float, 3>, 3> &R = icam.cam.R; const std::array<std::array<float, 3>, 3> &R = icam.invR;
const std::array<std::array<float, 1>, 3> &T = icam.cam.T; const std::array<std::array<float, 1>, 3> &T = icam.cam.T;
for (size_t i = 0; i < num_persons; ++i) for (size_t i = 0; i < num_persons; ++i)
@ -1277,7 +1277,7 @@ std::array<float, 3> calc_ray_dir(const CameraInternal &icam, const std::array<f
{ {
// Compute normalized ray direction from the point // Compute normalized ray direction from the point
std::array<float, 3> uv1 = {pt[0], pt[1], 1.0}; std::array<float, 3> uv1 = {pt[0], pt[1], 1.0};
auto d = mat_mul_vec(icam.invR, mat_mul_vec(icam.invK, uv1)); auto d = mat_mul_vec(icam.cam.R, mat_mul_vec(icam.invK, uv1));
auto ray_dir = normalize(d); auto ray_dir = normalize(d);
return ray_dir; return ray_dir;

1
scripts/test_triangulate.py
View File

@ -2,7 +2,6 @@ import copy
import json import json
import os import os
import matplotlib
import numpy as np import numpy as np
import utils_pipeline import utils_pipeline

2
skelda

Submodule skelda updated: ab5b744cc6...deb926c6bc