| |
| """ |
| Convert a per-frame layout JSON from pose frame to camera frame. |
| |
| Applies the same transformation as visualize_mesh_3d_video.py: |
| 1. Reorder translation [tx,ty,tz] -> [tz,tx,ty] and scale by --translation-scale |
| 2. Convert rotation and translation from pose frame (x-fwd, y-left, z-up) |
| to camera frame (x-right, y-down, z-fwd) |
| |
| Usage: |
| python convert_layout_to_camera_frame.py \ |
| --input /path/to/video_dir/obj_tracking_out/<object>/combined_visualization/layout.json \ |
| --output /path/to/video_dir/obj_tracking_out/<object>/combined_visualization/layout_camera_frame.json |
| """ |
|
|
| import argparse |
| import json |
| import numpy as np |
| from scipy.spatial.transform import Rotation as R |
|
|
|
|
| |
| |
| P = np.array([ |
| [0, 0, 1], |
| [-1, 0, 0], |
| [0, -1, 0], |
| ], dtype=np.float64) |
|
|
|
|
| def convert_translation(tx, ty, tz, translation_scale): |
| """Reorder and scale translation, then convert to camera frame.""" |
| |
| t_pose = np.array([tz * translation_scale, tx * translation_scale, ty * translation_scale]) |
| |
| t_cam = t_pose @ P |
| return t_cam.tolist() |
|
|
|
|
| def convert_rotation(quat_wxyz): |
| """Convert rotation from pose frame to camera frame.""" |
| |
| quat_xyzw = [quat_wxyz[1], quat_wxyz[2], quat_wxyz[3], quat_wxyz[0]] |
| R_pose = R.from_quat(quat_xyzw).as_matrix() |
| |
| R_cam = P.T @ R_pose |
| quat_cam_xyzw = R.from_matrix(R_cam).as_quat() |
| quat_cam_wxyz = [float(quat_cam_xyzw[3]), float(quat_cam_xyzw[0]), |
| float(quat_cam_xyzw[1]), float(quat_cam_xyzw[2])] |
| return quat_cam_wxyz |
|
|
|
|
| def main(): |
| parser = argparse.ArgumentParser( |
| description='Convert layout JSON poses from pose frame to camera frame.', |
| formatter_class=argparse.ArgumentDefaultsHelpFormatter, |
| ) |
| parser.add_argument('--input', type=str, required=True, help='Input layout JSON') |
| parser.add_argument('--output', type=str, required=True, help='Output layout JSON') |
| parser.add_argument('--scale', type=float, default=None, |
| help='Mesh scale (written to output for reference, does not affect transform)') |
| parser.add_argument('--translation-scale', type=float, default=1.0, |
| help='Scale factor for translation values') |
| args = parser.parse_args() |
|
|
| with open(args.input) as f: |
| data = json.load(f) |
|
|
| for obj in data["objects"]: |
| pose = obj["local_to_scene"] |
| tx, ty, tz = pose["translation"] |
| quat_wxyz = pose["new_quat"] |
|
|
| t_cam = convert_translation(tx, ty, tz, args.translation_scale) |
| q_cam = convert_rotation(quat_wxyz) |
|
|
| pose["translation_camera_frame"] = t_cam |
| pose["quat_wxyz_camera_frame"] = q_cam |
|
|
| data["frame"] = "camera_frame" |
| data["note"] = ( |
| "Poses converted to camera frame (x-right, y-down, z-fwd). " |
| f"translation_scale={args.translation_scale}. " |
| "Original pose-frame values preserved." |
| ) |
| if args.scale is not None: |
| data["mesh_scale"] = args.scale |
|
|
| with open(args.output, 'w') as f: |
| json.dump(data, f, indent=2) |
|
|
| num = len([o for o in data["objects"] if "frame_idx" in o or "frame_index" in o]) |
| print(f"Converted {num} frames to camera frame -> {args.output}") |
|
|
|
|
| if __name__ == "__main__": |
| main() |
|
|
