Using Panda3D to render ARKit Scenes

Scripting Issues
1

Hi, I’m having some trouble rendering my ARKit scenes in Panda3D (Python), and am having some issues due to the different orientation systems used by each 3d engine.

There’s two problems I haven’t figured out how to solve.

  1. Panda3D is Z-up RH coordinate system, ARKit is Y-Up RH Coordinate system. How do I adjust the coordinate system of the world to match ARKit? I noticed there is a getDefaultCoordinateSystem() method in panda3d.core but no accompanying setDefaultCoordinateSystem(). Is the suggested solution to do a 90 degree axis-angle rotation around the X-axis? Or is there a Better and Right way of accomplishing this?
  2. For the camera, I’m given a 3x3 matrix of camera intrinsics: OpenCV Camera Intrinsics. Is there a way for me to input the camera intrinsic matrix and build a camera?

Thanks so much :slight_smile:

2

As to (1), you can set that in your PRC file (or presumably in code via a call to “loadPrcFileData”), I think. You should find details in this forum post.

3

You can look into setting a MatrixLens on your camera, which allows you to put in an arbitrary projection matrix. However this has to be a 4x4 matrix, and I’m not familiar with the exact shape of camera intrinsic matrices.

4

@Thaumaturge Thanks for the info! I figured that out.

@rdb I’ll try it out.