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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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44
data/p4/sample.json
View File

@ -19,42 +19,42 @@
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220
data/p5/sample.json
View File

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212
data/p6/sample.json
View File

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88
data/p7/sample.json
View File

@ -48,17 +48,17 @@
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52
data/p8/sample.json
View File

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34
data/q1/sample.json
View File

@ -8,17 +8,17 @@
"R": [
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@ -135,4 +135,4 @@
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"id": "s02_Grab-1_000000"
}
}

4
rpt/triangulator.cpp
View File

@ -1021,7 +1021,7 @@ TriangulatorInternal::project_poses(
// Get camera parameters
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;
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
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);
return ray_dir;

1
scripts/test_triangulate.py
View File

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

2
skelda

Submodule skelda updated: ab5b744cc6...deb926c6bc