commit a9dd8f8c9746ab0befc04e35167a0344c21680ce Author: Ivan Date: Mon May 23 18:02:01 2022 +0300 v1 diff --git a/.ipynb_checkpoints/txt2jsonTraj-checkpoint.ipynb b/.ipynb_checkpoints/txt2jsonTraj-checkpoint.ipynb new file mode 100644 index 0000000..85e8196 --- /dev/null +++ b/.ipynb_checkpoints/txt2jsonTraj-checkpoint.ipynb @@ -0,0 +1,503 @@ +{ + "cells": [ + { + "cell_type": "code", + "execution_count": 10, + "id": "805fb727", + "metadata": {}, + "outputs": [], + "source": [ + "import json\n", + "import pandas as pd\n", + "import numpy as np\n", + "from scipy.spatial.transform import Rotation as R" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "id": "456ca3a7", + "metadata": {}, + "outputs": [], + "source": [ + "path = \"/home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Examples/Stereo/CameraTrajectory.txt\"\n", + "traj = pd.read_csv(path, sep=\" \")" + ] + }, + { + "cell_type": "code", + "execution_count": 12, + "id": "95b5c6ad", + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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Coordinate system in UE4: XYZ \n", + "entry = {\"frame\":0, \"poses\":[{\"camera_id\":0, \"euler_angles\":[-euler[1], -euler[2], -euler[0]], \n", + " \"xyz_coords\":[-Twc[7], Twc[11], Twc[3]]},\n", + " {\"cube_id\":0, \"euler_angles\":[0.0, 0.0, 0.0], \n", + " \"xyz_coords\":[-33.81, 5.15, 0.82]},\n", + " {\"cube_id\":1, \"euler_angles\":[0.0, 0.0, 0.0], \n", + " \"xyz_coords\":[-11.5, 0.7, 0.56]},\n", + " {\"cube_id\":2, \"euler_angles\":[0.0, 0.0, 0.0], \n", + " \"xyz_coords\":[-95.0, 5.15, 0.8]},\n", + " {\"cube_id\":3, \"euler_angles\":[0.0, 0.0, 0.0], \n", + " \"xyz_coords\":[-130.3, 4.6, 2.1]},\n", + " {\"cube_id\":4, \"euler_angles\":[0.0, 0.0, 0.0], \n", + " \"xyz_coords\":[-346.5, 4.1, 5.9]},\n", + " {\"cube_id\":5, \"euler_angles\":[0.0, 0.0, 0.0], \n", + " \"xyz_coords\":[-346.5, 25.7, 4.8]},\n", + " ]\n", + " }\n", + "json_traj[\"data\"].append(entry)\n", + "\n", + "\n", + "for i in range(1, len(traj.index)):\n", + " Twc = traj.loc[i]\n", + " Rot = R.from_matrix([[Twc[0], Twc[1], Twc[2]], \n", + " [Twc[4], Twc[5], Twc[6]], \n", + " [Twc[8], Twc[9], Twc[10]]])\n", + " euler = Rot.as_euler('xyz', degrees=True)\n", + " entry = {\"frame\":i, \"poses\":\n", + " [\n", + " {\"camera_id\":0, \"euler_angles\":[-euler[1], -euler[2], -euler[0]], \n", + " \"xyz_coords\":[Twc[7], Twc[11], Twc[3]]}\n", + " ]\n", + " }\n", + " json_traj[\"data\"].append(entry)" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "id": "e7426f0a", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "[{'frame': 0,\n", + " 'poses': [{'camera_id': 0,\n", + " 'euler_angles': [0.007671722302035774,\n", + " -0.005487577406769043,\n", + " -0.014727885522586002],\n", + " 'xyz_coords': [-0.003075266, -0.002493523, 0.002967205]},\n", + " {'cube_id': 0,\n", + " 'euler_angles': [0.0, 0.0, 0.0],\n", + " 'xyz_coords': [-33.81, 5.15, 0.82]},\n", + " {'cube_id': 1,\n", + " 'euler_angles': [0.0, 0.0, 0.0],\n", + " 'xyz_coords': [-11.5, 0.7, 0.56]},\n", + " {'cube_id': 2,\n", + " 'euler_angles': [0.0, 0.0, 0.0],\n", + " 'xyz_coords': [-95.0, 5.15, 0.8]},\n", + " {'cube_id': 3,\n", + " 'euler_angles': [0.0, 0.0, 0.0],\n", + " 'xyz_coords': [-130.3, 4.6, 2.1]},\n", + " {'cube_id': 4,\n", + " 'euler_angles': [0.0, 0.0, 0.0],\n", + " 'xyz_coords': [-346.5, 4.1, 5.9]},\n", + " {'cube_id': 5,\n", + " 'euler_angles': [0.0, 0.0, 0.0],\n", + " 'xyz_coords': [-346.5, 25.7, 4.8]}]},\n", + " {'frame': 1,\n", + " 'poses': [{'camera_id': 0,\n", + " 'euler_angles': [-0.10783204884531329,\n", + " 0.05220453371332025,\n", + " -0.07984648626708363],\n", + " 'xyz_coords': [-0.013490011, 1.208325267, -0.006111192]}]},\n", + " {'frame': 2,\n", + " 'poses': [{'camera_id': 0,\n", + " 'euler_angles': [-0.16774521663570027,\n", + " 0.07056213422363951,\n", + " -0.04462317100084628],\n", + " 'xyz_coords': [-0.036465403, 2.407830477, -0.004074253]}]},\n", + " {'frame': 3,\n", + " 'poses': [{'camera_id': 0,\n", + " 'euler_angles': [-0.24075229907512063,\n", + " 0.04155419931766713,\n", + " -0.026881656776181453],\n", + " 'xyz_coords': [-0.056511778, 3.606258154, -0.006532952]}]},\n", + " {'frame': 4,\n", + " 'poses': [{'camera_id': 0,\n", + " 'euler_angles': [-0.29384561979999074,\n", + " 0.02919373907146133,\n", + " -0.02462359471720489],\n", + " 'xyz_coords': [-0.077330925, 4.806717396, -0.006540779]}]}]" + ] + }, + "execution_count": 17, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "json_traj[\"data\"][:5]" + ] + }, + { + "cell_type": "code", + "execution_count": 18, + "id": "ec96c736", + "metadata": {}, + "outputs": [], + "source": [ + "with open('cameraTraj_UE4_format.json', 'w') as f:\n", + " json.dump(json_traj, f, indent=2)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "13093b0d", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "e9095c85", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + 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"import pandas as pd\n", + "import numpy as np\n", + "from scipy.spatial.transform import Rotation as R" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "id": "456ca3a7", + "metadata": {}, + "outputs": [], + "source": [ + "path = \"/home/ivan/ivan/git/work_drivecast2/SLAM/ORB_SLAM3-1.0-release/Examples/Stereo/CameraTrajectory.txt\"\n", + "traj = pd.read_csv(path, sep=\" \")" + ] + }, + { + "cell_type": "code", + "execution_count": 12, + "id": "95b5c6ad", + "metadata": {}, + "outputs": [ + { + "data": { + "text/html": [ + "
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" + ], + "text/plain": [ + " rwc(0,0) rwc(0,1) rwc(0,2) twc(0) rwc(1,0) rwc(1,1) rwc(1,2) \\\n", + "0 1.000000 -0.000096 -0.000134 0.002967 0.000096 1.000000 -0.000257 \n", + "1 0.999998 0.000914 0.001881 -0.006111 -0.000911 0.999999 -0.001395 \n", + "2 0.999995 0.001234 0.002927 -0.004074 -0.001232 0.999999 -0.000782 \n", + "3 0.999991 0.000727 0.004202 -0.006533 -0.000725 1.000000 -0.000472 \n", + "4 0.999987 0.000512 0.005128 -0.006541 -0.000510 1.000000 -0.000432 \n", + "... ... ... ... ... ... ... ... \n", + "1096 0.999676 0.018372 0.017593 0.315591 -0.018334 0.999829 -0.002316 \n", + "1097 0.999719 0.017335 0.016196 0.324796 -0.017322 0.999850 -0.000900 \n", + "1098 0.999756 0.016880 0.014275 0.339924 -0.016880 0.999858 -0.000125 \n", + "1099 0.999804 0.014992 0.012966 0.347605 -0.015007 0.999887 0.001013 \n", + "1100 0.999858 0.012979 0.010749 0.356986 -0.013000 0.999914 0.001834 \n", + "\n", + " twc(1) rwc(2,0) rwc(2,1) rwc(2,2) twc(2) \n", + "0 0.003075 0.000134 0.000257 1.000000 -0.002494 \n", + "1 -0.013490 -0.001882 0.001394 0.999997 1.208325 \n", + "2 -0.036465 -0.002928 0.000779 0.999995 2.407830 \n", + "3 -0.056512 -0.004202 0.000469 0.999991 3.606258 \n", + "4 -0.077331 -0.005129 0.000430 0.999987 4.806717 \n", + "... ... ... ... ... ... \n", + "1096 -4.811160 -0.017633 0.001993 0.999843 298.391571 \n", + "1097 -4.826771 -0.016209 0.000619 0.999868 299.177399 \n", + "1098 -4.839842 -0.014275 -0.000116 0.999898 299.979767 \n", + "1099 -4.852088 -0.012949 -0.001207 0.999915 300.784546 \n", + "1100 -4.867191 -0.010724 -0.001974 0.999941 301.585327 \n", + "\n", + "[1101 rows x 12 columns]" + ] + }, + "execution_count": 12, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "traj" + ] + }, + { + "cell_type": "code", + "execution_count": 13, + "id": "77d852aa", + "metadata": {}, + "outputs": [], + "source": [ + "with open(\"/home/ivan/Downloads/Telegram Desktop/test_data.json\") as f:\n", + " traj_example = json.load(f)" + ] + }, + { + "cell_type": "code", + "execution_count": 14, + "id": "2eb4a8c7", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "{'frame': 2,\n", + " 'poses': [{'camera_id': 0,\n", + " 'Euler angles': [179.0592276314431, 178.71021095455262, 12.371121058785771],\n", + " 'xyz coords': [1598.4821251839471, 294.28354659765137, -65.4766852385318]},\n", + " {'object_id': 2,\n", + " 'Euler angles': [179.0592276314431, 178.71021095455262, 12.371121058785771],\n", + " 'xyz coords': [1598.4821251839471, 294.28354659765137, -65.4766852385318]}]}" + ] + }, + "execution_count": 14, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "traj_example[\"data\"][1]" + ] + }, + { + "cell_type": "code", + "execution_count": 15, + "id": "3f29fcb8", + "metadata": {}, + "outputs": [], + "source": [ + "json_traj_example = {\"data\": [\n", + " {\"frame\":0, \n", + " \"poses\":{\n", + " \"euler_angles\":[0.0,0.0,0.0],\n", + " \"xyz_coords\":[0.0,0.0,0.0]\n", + " }\n", + " }\n", + " ]\n", + " }\n", + "\n", + "json_traj = {\"data\": [\n", + " ]\n", + " }" + ] + }, + { + "cell_type": "code", + "execution_count": 16, + "id": "b30e79c9", + "metadata": {}, + "outputs": [], + "source": [ + "# Fill the first line\n", + "Twc = traj.loc[0]\n", + "Rot = R.from_matrix([[Twc[0], Twc[1], Twc[2]], \n", + " [Twc[4], Twc[5], Twc[6]], \n", + " [Twc[8], Twc[9], Twc[10]]])\n", + "euler = Rot.as_euler('xyz', degrees=True)\n", + "# Coordinate system in ORB-SLAM3: ZXY. Coordinate system in UE4: XYZ \n", + "entry = {\"frame\":0, \"poses\":[{\"camera_id\":0, \"euler_angles\":[-euler[1], -euler[2], -euler[0]], \n", + " \"xyz_coords\":[-Twc[7], Twc[11], Twc[3]]},\n", + " {\"cube_id\":0, \"euler_angles\":[0.0, 0.0, 0.0], \n", + " \"xyz_coords\":[-33.81, 5.15, 0.82]},\n", + " {\"cube_id\":1, \"euler_angles\":[0.0, 0.0, 0.0], \n", + " \"xyz_coords\":[-11.5, 0.7, 0.56]},\n", + " {\"cube_id\":2, \"euler_angles\":[0.0, 0.0, 0.0], \n", + " \"xyz_coords\":[-95.0, 5.15, 0.8]},\n", + " {\"cube_id\":3, \"euler_angles\":[0.0, 0.0, 0.0], \n", + " \"xyz_coords\":[-130.3, 4.6, 2.1]},\n", + " {\"cube_id\":4, \"euler_angles\":[0.0, 0.0, 0.0], \n", + " \"xyz_coords\":[-346.5, 4.1, 5.9]},\n", + " {\"cube_id\":5, \"euler_angles\":[0.0, 0.0, 0.0], \n", + " \"xyz_coords\":[-346.5, 25.7, 4.8]},\n", + " ]\n", + " }\n", + "json_traj[\"data\"].append(entry)\n", + "\n", + "\n", + "for i in range(1, len(traj.index)):\n", + " Twc = traj.loc[i]\n", + " Rot = R.from_matrix([[Twc[0], Twc[1], Twc[2]], \n", + " [Twc[4], Twc[5], Twc[6]], \n", + " [Twc[8], Twc[9], Twc[10]]])\n", + " euler = Rot.as_euler('xyz', degrees=True)\n", + " entry = {\"frame\":i, \"poses\":\n", + " [\n", + " {\"camera_id\":0, \"euler_angles\":[-euler[1], -euler[2], -euler[0]], \n", + " \"xyz_coords\":[Twc[7], Twc[11], Twc[3]]}\n", + " ]\n", + " }\n", + " json_traj[\"data\"].append(entry)" + ] + }, + { + "cell_type": "code", + "execution_count": 17, + "id": "e7426f0a", + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "[{'frame': 0,\n", + " 'poses': [{'camera_id': 0,\n", + " 'euler_angles': [0.007671722302035774,\n", + " -0.005487577406769043,\n", + " -0.014727885522586002],\n", + " 'xyz_coords': [-0.003075266, -0.002493523, 0.002967205]},\n", + " {'cube_id': 0,\n", + " 'euler_angles': [0.0, 0.0, 0.0],\n", + " 'xyz_coords': [-33.81, 5.15, 0.82]},\n", + " {'cube_id': 1,\n", + " 'euler_angles': [0.0, 0.0, 0.0],\n", + " 'xyz_coords': [-11.5, 0.7, 0.56]},\n", + " {'cube_id': 2,\n", + " 'euler_angles': [0.0, 0.0, 0.0],\n", + " 'xyz_coords': [-95.0, 5.15, 0.8]},\n", + " {'cube_id': 3,\n", + " 'euler_angles': [0.0, 0.0, 0.0],\n", + " 'xyz_coords': [-130.3, 4.6, 2.1]},\n", + " {'cube_id': 4,\n", + " 'euler_angles': [0.0, 0.0, 0.0],\n", + " 'xyz_coords': [-346.5, 4.1, 5.9]},\n", + " {'cube_id': 5,\n", + " 'euler_angles': [0.0, 0.0, 0.0],\n", + " 'xyz_coords': [-346.5, 25.7, 4.8]}]},\n", + " {'frame': 1,\n", + " 'poses': [{'camera_id': 0,\n", + " 'euler_angles': [-0.10783204884531329,\n", + " 0.05220453371332025,\n", + " -0.07984648626708363],\n", + " 'xyz_coords': [-0.013490011, 1.208325267, -0.006111192]}]},\n", + " {'frame': 2,\n", + " 'poses': [{'camera_id': 0,\n", + " 'euler_angles': [-0.16774521663570027,\n", + " 0.07056213422363951,\n", + " -0.04462317100084628],\n", + " 'xyz_coords': [-0.036465403, 2.407830477, -0.004074253]}]},\n", + " {'frame': 3,\n", + " 'poses': [{'camera_id': 0,\n", + " 'euler_angles': [-0.24075229907512063,\n", + " 0.04155419931766713,\n", + " -0.026881656776181453],\n", + " 'xyz_coords': [-0.056511778, 3.606258154, -0.006532952]}]},\n", + " {'frame': 4,\n", + " 'poses': [{'camera_id': 0,\n", + " 'euler_angles': [-0.29384561979999074,\n", + " 0.02919373907146133,\n", + " -0.02462359471720489],\n", + " 'xyz_coords': [-0.077330925, 4.806717396, -0.006540779]}]}]" + ] + }, + "execution_count": 17, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "json_traj[\"data\"][:5]" + ] + }, + { + "cell_type": "code", + "execution_count": 18, + "id": "ec96c736", + "metadata": {}, + "outputs": [], + "source": [ + "with open('cameraTraj_UE4_format.json', 'w') as f:\n", + " json.dump(json_traj, f, indent=2)" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "13093b0d", + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "id": "e9095c85", + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "Python 3 (ipykernel)", + "language": "python", + "name": "python3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.8.10" + } + }, + "nbformat": 4, + "nbformat_minor": 5 +}