camera pose I drew did not match the camera pose directly viewed from the MVS file
JV-X opened this issue · 2 comments
Hi, I generated a JSON file from the MVS file and read the camera pose from the JSON file.
I used Open3D to visualize the read camera pose and the point cloud read from the PLY file.
However, when I rendered the 3D view, I found that the camera pose I drew did not match the camera pose directly viewed from the MVS file. They are as follows:
Camera pose as I drew it:
Camera pose as seen in the MVS file:
Here is my drawing code:
import json
import numpy as np
import open3d as o3d
def camera3():
file_path = "test\scene_2.json"
data = None
with open(file_path,'r') as f:
data = json.loads(f.read())['platforms'][0]
K = np.array(data['cameras'][0]['K'])
camera = data['cameras'][0]
poses = camera['poses']
vizualizer = o3d.visualization.Visualizer()
vizualizer.create_window(width=camera['width'], height=camera['height'])
for pose in poses:
R = np.array(pose['R'])
C = np.array(pose['C'])
intrinsic = o3d.camera.PinholeCameraIntrinsic()
intrinsic.set_intrinsics(
width=data['cameras'][0]['width'],
height=data['cameras'][0]['height'],
fx=K[0, 0],
fy=K[1, 1],
cx=K[0, 2],
cy=K[1, 2]
)
extrinsic = np.eye(4)
extrinsic[:3, :3] = R
extrinsic[:3, 3] = C
camera_lineset = o3d.geometry.LineSet.create_camera_visualization(
intrinsic=intrinsic,
extrinsic=extrinsic,
scale=0.1
)
vizualizer.add_geometry(camera_lineset)
pcd = o3d.io.read_point_cloud("test/texture.ply")
# o3d.visualization.draw_geometries([camera_lineset, pcd])
vizualizer.add_geometry(pcd)
vizualizer.run()
if __name__ == '__main__':
camera3()
Here are the files that I used:
test.zip
I don't know why there is such a discrepancy. Is there something wrong with my code?
any suggestions?
thanks for your reply.
the full description of how to interpret the camera matrices is in the Interface.h
file
the full description of how to interpret the camera matrices is in the
Interface.h
file
thanks for your reply