diff --git a/py_workspace/.beads/issues.jsonl b/py_workspace/.beads/issues.jsonl index bc4b80f..5327b51 100644 --- a/py_workspace/.beads/issues.jsonl +++ b/py_workspace/.beads/issues.jsonl @@ -23,6 +23,7 @@ {"id":"py_workspace-kuy","title":"Move parquet documentation to docs/","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T02:52:12.609090777Z","created_by":"crosstyan","updated_at":"2026-02-07T02:52:43.088520272Z","closed_at":"2026-02-07T02:52:43.088520272Z","close_reason":"Moved parquet documentation to docs/marker-parquet-format.md"} {"id":"py_workspace-kv8","title":"Update compare_pose_sets.py with Plotly visualization","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-08T07:55:38.911520186Z","created_by":"crosstyan","updated_at":"2026-02-08T07:57:13.711754402Z","closed_at":"2026-02-08T07:57:13.711754402Z","close_reason":"Added Plotly visualization to compare_pose_sets.py with camera frustums, axes, and ground plane overlay."} {"id":"py_workspace-ld1","title":"Search for depth unit conversion and scaling patterns","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T04:53:53.211242053Z","created_by":"crosstyan","updated_at":"2026-02-07T04:54:56.840335809Z","closed_at":"2026-02-07T04:54:56.840335809Z","close_reason":"Exhaustive search completed. Identified manual scaling in svo_sync.py and SDK-level scaling in depth_sensing.py. Documented risks in learnings.md."} +{"id":"py_workspace-lo0","title":"Add --cv-to-opengl option to apply_calibration_to_fusion_config.py","status":"closed","priority":2,"issue_type":"feature","owner":"crosstyan@outlook.com","created_at":"2026-02-09T03:33:40.435844317Z","created_by":"crosstyan","updated_at":"2026-02-09T03:34:37.514923778Z","closed_at":"2026-02-09T03:34:37.514923778Z","close_reason":"Added --cv-to-opengl option with matrix conversion logic and documentation."} {"id":"py_workspace-nlu","title":"Produce A/B visualization comparison for CV world basis","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-08T03:50:56.386223999Z","created_by":"crosstyan","updated_at":"2026-02-08T03:52:41.232154353Z","closed_at":"2026-02-08T03:52:41.232154353Z","close_reason":"Generated A/B comparison images and analyzed visual differences. Source files remain unchanged."} {"id":"py_workspace-nvw","title":"Update documentation for robust depth refinement","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-07T05:41:32.963615133Z","created_by":"crosstyan","updated_at":"2026-02-07T05:43:55.707975317Z","closed_at":"2026-02-07T05:43:55.707975317Z","close_reason":"Documentation updated with robust refinement details"} {"id":"py_workspace-q4w","title":"Add type hints and folder-aware --svo input in calibrate_extrinsics.py","status":"closed","priority":2,"issue_type":"task","owner":"crosstyan@outlook.com","created_at":"2026-02-06T10:01:13.943518267Z","created_by":"crosstyan","updated_at":"2026-02-06T10:03:09.855307397Z","closed_at":"2026-02-06T10:03:09.855307397Z","close_reason":"Implemented type hints and directory expansion for --svo"} diff --git a/py_workspace/apply_calibration_to_fusion_config.py b/py_workspace/apply_calibration_to_fusion_config.py index 9fe03c4..0c7f708 100644 --- a/py_workspace/apply_calibration_to_fusion_config.py +++ b/py_workspace/apply_calibration_to_fusion_config.py @@ -38,6 +38,7 @@ Usage Example: import json import click import sys +import numpy as np def validate_pose_string(pose_str: str) -> bool: @@ -76,9 +77,26 @@ def validate_pose_string(pose_str: str) -> bool: default=False, help="Fail if a calibration serial is missing in fusion config.", ) +@click.option( + "--cv-to-opengl", + is_flag=True, + default=False, + help="Convert poses from OpenCV convention (Y-down, Z-forward) to OpenGL convention (Y-up, Z-backward).", +) def main( - calibration_json: str, fusion_config_json: str, output_json: str, strict: bool + calibration_json: str, + fusion_config_json: str, + output_json: str, + strict: bool, + cv_to_opengl: bool, ) -> None: + """ + Apply calibration poses to a ZED Fusion configuration file. + + If --cv-to-opengl is set, the T_world_from_cam matrix is converted from + OpenCV convention to OpenGL convention using T_gl = S @ T_cv @ S, + where S = diag(1, -1, -1, 1). + """ with open(calibration_json, "r") as f: calib_data: dict[str, dict[str, str]] = json.load(f) @@ -108,6 +126,29 @@ def main( ) sys.exit(1) + if cv_to_opengl: + # Convert OpenCV to OpenGL convention + # S = diag(1, -1, -1, 1) + # T_gl = S @ T_cv @ S + try: + vals = [float(p) for p in pose_str.split()] + t_cv = np.array(vals).reshape((4, 4)) + + # Validate it's a proper transform (roughly) + det = np.linalg.det(t_cv[:3, :3]) + if not np.isclose(abs(det), 1.0, atol=1e-3): + click.echo( + f"Warning: Pose for {serial} may not be a valid rotation matrix (det={det:.4f})", + err=True, + ) + + s = np.diag([1, -1, -1, 1]) + t_gl = s @ t_cv @ s + pose_str = " ".join(f"{x:.8f}" for x in t_gl.flatten()) + except Exception as e: + click.echo(f"Error converting pose for serial {serial}: {e}", err=True) + sys.exit(1) + if serial in fusion_data: if "FusionConfiguration" in fusion_data[serial]: fusion_data[serial]["FusionConfiguration"]["pose"] = pose_str