mhm. i tried to make a small script which reads out the 3dpoint and camera-positions from the bundle-database.
but i sorta dont know how to continue from here. the points all seems to be in one plane. maybe the inputdata is just a bit weired.
just in case anyone has another data-set to test it on.
import direct.directbase.DirectStart
from pandac.PandaModules import Vec3,Mat3,Mat4
inputfile = open("./bundle/bundle.out","r").read()
inputfile= inputfile.split("\n")
while "#" in inputfile[0]:
inputfile.pop(0)
num_cams,num_points = inputfile.pop(0).split(" ")
num_cams,num_points = int(num_cams),int(num_points)
camlist = []
"""
<f> <k1> <k2> [the focal length, followed by two radial distortion coeffs]
<R> [a 3x3 matrix representing the camera rotation]
<t> [a 3-vector describing the camera translation]
"""
for i in range(0,num_cams):
focal, dist1, dist2 = inputfile.pop(0).split(" ")
focal, dist1, dist2 = float(focal), float(dist1), float(dist2)
r11, r12, r13 = inputfile.pop(0).split(" ")
r11, r12, r13 = float(r11), float(r12), float(r13)
r21, r22, r23 = inputfile.pop(0).split(" ")
r21, r22, r23 = float(r21), float(r22), float(r23)
r31, r32, r33 = inputfile.pop(0).split(" ")
r31, r32, r33 = float(r31), float(r32), float(r33)
x, y, z = inputfile.pop(0).split(" ")
x, y, z = float(x) , float(y), float(z)
camparams= [r11, r12, r13 , r21, r22, r23 , r31, r32, r33,x,y,z]#, focal, dist1, dist2]
camlist.append(camparams)
for i in camlist:
print i
"""
<position> [a 3-vector describing the 3D position of the point]
<color> [a 3-vector describing the RGB color of the point]
<view list> [a list of views the point is visible in]
The view list begins with the length of the list (i.e., the number of cameras the point is visible in). The list is then given as a list of quadruplets <camera> <key> <x> <y>, where <camera> is a camera index, <key> the index of the SIFT keypoint where the point was detected in that camera, and <x> and <y> are the detected positions of that keypoint. Both indices are 0-based (e.g., if camera 0 appears in the list, this corresponds to the first camera in the scene file and the first image in "list.txt"). The pixel positions are floating point numbers in a coordinate system where the origin is the center of the image, the x-axis increases to the right, and the y-axis increases towards the top of the image. Thus, (-w/2, -h/2) is the lower-left corner of the image, and (w/2, h/2) is the top-right corner (where w and h are the width and height of the image).
"""
pointlist = []
for i in range(0,num_points):
x, y, z = inputfile.pop(0).split(" ")
x, y, z = float(x) , float(y), float(z)
r, g, b = inputfile.pop(0).split(" ")
r, g, b = float(r) , float(g), float(b)
viewlist = inputfile.pop(0).split(" ")
viewlistOutput=[]
for i in range(0,int(viewlist.pop(0))):
camindex = int(viewlist.pop(0))
siftIndex = int(viewlist.pop(0))
x = float(viewlist.pop(0))
y = float(viewlist.pop(0))
viewlistOutput.append([camindex,siftIndex,x,y])
point =[ x,y,z ,r,g,b, viewlistOutput]
pointlist.append(point)
for i in pointlist:
print i
print "YAY!"
print len(pointlist)
for i in pointlist:
pointmodel = loader.loadModel("smiley")
pointmodel.reparentTo(render)
pointmodel.setScale(1)
pointmodel.setPos(i[0],i[1],i[2])
print pointmodel.getPos()
pointmodel.setColorScale(i[3],i[4],i[5],1)
for i in camlist:
pointmodel = loader.loadModel("zup-axis")
pointmodel.reparentTo(render)
myrotmat= Mat3()
myrotmat.set(i[0],i[1],i[2],i[3],i[4],i[5],i[6],i[7],i[8] )
mymatrix = Mat4()
mymatrix.setUpper3(myrotmat) #thx to craig for the rotation stuff:)
#mymatrix.translateMat( Vec3(i[9],i[10],i[11]) ) #sorta didnt work.
pointmodel.setMat(mymatrix )
pointmodel.setPos(i[9],i[10],i[11])
run()
I’ll be in there soon. Just gotta finish my intro programming classes… (Java, ick)