| """Convert recorded intrinsics and optional exported ARKit poses to per-frame geometry.""" |
| import argparse |
| import csv |
| import json |
| from pathlib import Path |
|
|
| import numpy as np |
| from scipy.spatial.transform import Rotation |
|
|
|
|
| def read_csv(path): |
| with path.open(encoding='utf-8-sig', newline='') as stream: |
| return list(csv.DictReader(line for line in stream if not line.startswith('#'))) |
|
|
|
|
| def main(): |
| parser = argparse.ArgumentParser(description=__doc__) |
| parser.add_argument('--intrinsics', type=Path, required=True) |
| parser.add_argument('--poses', type=Path) |
| parser.add_argument('--alignment', type=Path) |
| parser.add_argument('--parameters', type=Path) |
| parser.add_argument('--out', type=Path, required=True) |
| args = parser.parse_args() |
| intrinsics = read_csv(args.intrinsics) |
| poses = alignment = None |
| if args.poses: |
| if not args.parameters or not args.alignment: |
| parser.error('--poses requires --parameters and --alignment') |
| parameters = json.loads(args.parameters.read_text(encoding='utf-8-sig')) |
| pose_info = parameters['pose'] |
| if (pose_info['world_alignment'] != 'gravity' or |
| pose_info['convention'] != 'T_world_camera (parent_from_child)' or |
| pose_info['camera_coordinates'] != 'OpenCV/Rerun RDF (x right, y down, z forward)'): |
| raise ValueError('Expected gravity-aligned T_world_camera already exported in camera RDF coordinates') |
| poses, alignment = read_csv(args.poses), read_csv(args.alignment) |
| if len(alignment) != len(intrinsics): |
| raise ValueError('Intrinsics and alignment must have the same frame count') |
| rows = [] |
| for index, params in enumerate(intrinsics): |
| if int(params['frame_idx']) != index: |
| raise ValueError('Intrinsics frame_idx must start at zero and be in order') |
| row = dict(frame_idx=index, width=params['native_width_px'], height=params['native_height_px'], |
| fx=params['native_fx_px'], fy=params['native_fy_px'], |
| cx=params['native_cx_px'], cy=params['native_cy_px']) |
| if poses is not None: |
| match = alignment[index] |
| pose = poses[int(match['arkit_row_index'])] |
| if int(match['frame_idx']) != index or abs(float(pose['sensor_sec'])-float(params['sensor_sec'])) > 1e-5: |
| raise ValueError(f'Pose/intrinsics alignment mismatch at frame {index}') |
| if pose['tracking_state'] != 'normal': |
| raise ValueError(f'ARKit tracking is not normal at frame {index}') |
| q = np.array([float(pose[key]) for key in ['qx','qy','qz','qw']]) |
| q /= np.linalg.norm(q) |
| up = Rotation.from_quat(q).as_matrix().T @ np.array([0.,1.,0.]) |
| row.update(stamp=match['stamp'], up_x=up[0], up_y=up[1], up_z=up[2]) |
| rows.append(row) |
| with args.out.open('w', encoding='utf-8', newline='') as stream: |
| writer = csv.DictWriter(stream, fieldnames=list(rows[0])) |
| writer.writeheader() |
| writer.writerows(rows) |
| print(f'Saved {len(rows)} frames; gravity aligned: {poses is not None}') |
|
|
|
|
| if __name__ == '__main__': |
| main() |
|
|
