Converts a line from the camera trajectory file into translation and rotation matrices. Args: traj_str (str): A space-delimited string where each line represents a camera pose at a particular timestamp. The line consists of seven columns:
(self, traj_str)
| 136 | self.data_root_path = os.path.join(data_root_path) |
| 137 | |
| 138 | def TrajStringToMatrix(self, traj_str): |
| 139 | """ |
| 140 | Converts a line from the camera trajectory file into translation and rotation matrices. |
| 141 | |
| 142 | Args: |
| 143 | traj_str (str): A space-delimited string where each line represents a camera pose at a particular timestamp. |
| 144 | The line consists of seven columns: |
| 145 | - Column 1: timestamp |
| 146 | - Columns 2-4: rotation (axis-angle representation in radians) |
| 147 | - Columns 5-7: translation (in meters) |
| 148 | |
| 149 | Returns: |
| 150 | (tuple): A tuple containing: |
| 151 | - ts (str): Timestamp. |
| 152 | - Rt (numpy.ndarray): 4x4 transformation matrix representing rotation and translation. |
| 153 | |
| 154 | Raises: |
| 155 | AssertionError: If the input string does not have exactly seven columns. |
| 156 | """ |
| 157 | tokens = traj_str.split() |
| 158 | assert len(tokens) == 7 |
| 159 | ts = tokens[0] |
| 160 | |
| 161 | # Rotation in angle axis |
| 162 | angle_axis = [float(tokens[1]), float(tokens[2]), float(tokens[3])] |
| 163 | r_w_to_p = convert_angle_axis_to_matrix3(np.asarray(angle_axis)) |
| 164 | |
| 165 | # Translation |
| 166 | t_w_to_p = np.asarray([float(tokens[4]), float(tokens[5]), float(tokens[6])]) |
| 167 | extrinsics = np.eye(4, 4) |
| 168 | extrinsics[:3, :3] = r_w_to_p |
| 169 | extrinsics[:3, -1] = t_w_to_p |
| 170 | Rt = np.linalg.inv(extrinsics) |
| 171 | |
| 172 | return (ts, Rt) |
| 173 | |
| 174 | def get_camera_trajectory(self, visit_id, video_id, pose_source="colmap"): |
| 175 | """ |
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