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fix: align calibration convention metadata and remove conversion path

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crosstyan
2026-02-09 04:24:09 +00:00
parent 136dadb31d
commit 287773e7e7
5 changed files with 103 additions and 45 deletions
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py_workspace/calibrate_extrinsics.py
+34 -5
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@@ -383,9 +383,9 @@ def apply_depth_verify_refine_postprocess(
results[str(serial)]["depth_pool"] = pool_metadata
improvement = verify_res.rmse - verify_res_post.rmse
results[str(serial)]["refine_depth"][
"improvement_rmse"
] = improvement
results[str(serial)]["refine_depth"]["improvement_rmse"] = (
improvement
)
click.echo(
f"Camera {serial} refined: RMSE={verify_res_post.rmse:.3f}m "
@@ -1116,18 +1116,47 @@ def main(
)
if ground_normal is not None:
R_align: Mat33 = rotation_align_vectors(ground_normal, np.array([0, 1, 0]))
logger.info(f"Computed alignment rotation for face '{target_face}'")
target_axis = np.array([0, -1, 0])
R_align: Mat33 = rotation_align_vectors(ground_normal, target_axis)
logger.info(
f"Computed alignment rotation for face '{target_face}' to target {target_axis}"
)
alignment_meta = {
"target_face": target_face,
"ground_normal_before": ground_normal.tolist(),
"target_axis": target_axis.tolist(),
"alignment_rotation": R_align.flatten().tolist(),
}
for serial, data in results.items():
T_mean: Mat44 = np.fromstring(data["pose"], sep=" ").reshape(4, 4)
T_aligned = apply_alignment_to_pose(T_mean, R_align)
data["pose"] = " ".join(f"{x:.6f}" for x in T_aligned.flatten())
logger.debug(f"Applied alignment to camera {serial}")
results["_meta"] = {
"pose_convention": "world_from_cam",
"frame_convention": "opencv_y_down",
"auto_aligned": True,
"gravity_direction_world": [0, 1, 0],
"alignment": alignment_meta,
}
else:
click.echo(
"Warning: Could not determine ground normal. Skipping alignment."
)
results["_meta"] = {
"pose_convention": "world_from_cam",
"frame_convention": "opencv_y_down",
"auto_aligned": False,
}
else:
results["_meta"] = {
"pose_convention": "world_from_cam",
"frame_convention": "opencv_y_down",
"auto_aligned": False,
}
# 6. Save to JSON
with open(output, "w") as f: