How to get pose from shot in reconstruction.json

Jyothi_viswanadham · 22 June 2022 06:52

Following from the post,

pose = shot.pose

but shot dont have attribute called pose. here are the attributes of shot
{‘rotation’: [1.5854896963247729, -0.12476936903940479, 0.008493908445915507],
‘translation’: [47.36082101311921, 537.9664018217298, 13.741220414358704],
‘camera’: ‘v2 5760 2880 spherical 0.85’,
‘orientation’: 1,
‘capture_time’: 1639826222.0,
‘gps_dop’: 10.0,
‘gps_position’: [-8.199110207800036, -2.62234557906595, 540.1094722272828],
‘vertices’: [],
‘faces’: [],
‘scale’: 1.0,
‘covariance’: [],
‘merge_cc’: 0}

ThorZ · 8 July 2022 15:21

The Shot class contains member Pose, defined by translation and rotation

github.com

mapillary/OpenSfM/blob/main/opensfm/src/map/shot.h

#pragma once
#include <foundation/optional.h>
#include <geometry/camera.h>
#include <geometry/pose.h>
#include <map/defines.h>
#include <map/landmark.h>
#include <map/observation.h>
#include <map/rig.h>

#include <Eigen/Eigen>
#include <iostream>
#include <unordered_map>

namespace map {
class Map;

struct ShotMesh {
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
  void SetVertices(const MatXd& vertices) { vertices_ = vertices; }
  void SetFaces(const MatXd& faces) { faces_ = faces; }

This file has been truncated. show original

Or you can check the older opensfm version which implements shot, pose in python, would be easier to understand (I’m not sure if it’s still working with the newly created reconstruction.json though)

github.com

mapillary/OpenSfM/blob/v0.5.1/opensfm/types.py

"""Basic types for building a reconstruction."""

import numpy as np
import cv2
import math


class Pose(object):
    """Defines the pose parameters of a camera.

    The extrinsic parameters are defined by a 3x1 rotation vector which
    maps the camera rotation respect to the origin frame (rotation) and
    a 3x1 translation vector which maps the camera translation respect
    to the origin frame (translation).

    Attributes:
        rotation (vector): the rotation vector.
        translation (vector): the rotation vector.
    """

This file has been truncated. show original

system · 7 August 2022 15:22

This topic was automatically closed 30 days after the last reply. New replies are no longer allowed.