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Fixed trace for NavVis M6 devices. #66

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May 17, 2024
Merged

Fixed trace for NavVis M6 devices. #66

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43d31b8
Fixed trace for NavVis M6 devices.
pablospe May 16, 2024
4c2b5c6
simplify functions
pablospe May 16, 2024
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23 changes: 15 additions & 8 deletions scantools/run_navvis_to_capture.py
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Original file line number Diff line number Diff line change
Expand Up @@ -148,14 +148,21 @@ def run(input_path: Path, capture: Capture, tiles_format: str, session_id: Optio
# Add "trace" as a sensor.
sensors['trace'] = create_sensor('trace', name='Mapping path')

qvec, tvec = nv._imu["orientation"], nv._imu["position"]
camhead_from_imu = Pose(r=qvec, t=tvec)
imu_from_camhead = camhead_from_imu.inverse()

# Rig is in cam0 frame.
# Rig to CamHead. Rig is in cam0 frame.
cam0 = nv.get_cameras()["cam0"]
qvec, tvec = cam0["orientation"], cam0["position"]
camhead_from_rig = Pose(r=qvec, t=tvec)
camhead_from_rig = Pose(r=cam0["orientation"], t=cam0["position"])

# Rig to IMU.
imu_pose = Pose(*nv.get_imu_pose())
if nv.get_device() == 'VLX':
imu_from_camhead = imu_pose.inverse()
imu_from_rig = imu_from_camhead * camhead_from_rig
elif nv.get_device() == 'M6':
imu_from_footprint = imu_pose.inverse()
world_from_camhead = Pose(*nv.get_camhead(frame_id=0))
world_from_footprint = Pose(*nv.get_footprint(frame_id=0))
footprint_from_camhead = world_from_footprint.inverse() * world_from_camhead
imu_from_rig = imu_from_footprint * footprint_from_camhead * camhead_from_rig

for trace in nv.get_trace():
timestamp_us = int(trace["nsecs"]) // 1_000 # convert from ns to us
Expand All @@ -169,7 +176,7 @@ def run(input_path: Path, capture: Capture, tiles_format: str, session_id: Optio
# The rig is located in cam_id=0, tile_id=0.
tile0_pose = Pose(r=nv.get_tile_rotation(0), t=np.zeros(3)).inverse()

trace_pose = world_from_imu * imu_from_camhead * camhead_from_rig * tile0_pose
trace_pose = world_from_imu * imu_from_rig * tile0_pose

if upright:
# Images are rotated by 90 degrees clockwise.
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18 changes: 9 additions & 9 deletions scantools/scanners/navvis/navvis.py
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Original file line number Diff line number Diff line change
Expand Up @@ -330,18 +330,18 @@ def get_camera_intrinsics(self):
def __get_raw_pose(self, frame_id, cam_id):
cam_id = self._convert_cam_id_to_str(cam_id)
data = self.__frames[frame_id][cam_id]

# get pose
qvec = np.array(data["quaternion"])
tvec = np.array(data["position"])

return qvec, tvec
return np.array(data["quaternion"]), np.array(data["position"])

def get_camhead(self, frame_id):
data = self.__frames[frame_id]["cam_head"]
qvec = np.array(data["quaternion"])
tvec = np.array(data["position"])
return qvec, tvec
return np.array(data["quaternion"]), np.array(data["position"])

def get_footprint(self, frame_id):
data = self.__frames[frame_id]["footprint"]
return np.array(data["quaternion"]), np.array(data["position"])

def get_imu_pose(self):
return self._imu["orientation"], self._imu["position"]

# auxiliary function:
# fixes a camera-to-world qvec for upright fix
Expand Down