{
 "cells": [
  {
   "cell_type": "code",
   "execution_count": 12,
   "id": "805fb727",
   "metadata": {},
   "outputs": [],
   "source": [
    "import json\n",
    "import pandas as pd\n",
    "import numpy as np\n",
    "import cv2 as cv\n",
    "from scipy.spatial.transform import Rotation as R"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 13,
   "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": 14,
   "id": "95b5c6ad",
   "metadata": {},
   "outputs": [
    {
     "data": {
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       "    <tr style=\"text-align: right;\">\n",
       "      <th></th>\n",
       "      <th>1.000000000</th>\n",
       "      <th>-0.000088794</th>\n",
       "      <th>-0.000174736</th>\n",
       "      <th>0.003704830</th>\n",
       "      <th>0.000088759</th>\n",
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       "      <th>-0.002705306</th>\n",
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       "    <tr>\n",
       "      <th>0</th>\n",
       "      <td>0.999998</td>\n",
       "      <td>0.000921</td>\n",
       "      <td>0.001840</td>\n",
       "      <td>-0.005423</td>\n",
       "      <td>-0.000918</td>\n",
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       "      <th>1</th>\n",
       "      <td>0.999995</td>\n",
       "      <td>0.001285</td>\n",
       "      <td>0.002990</td>\n",
       "      <td>-0.005176</td>\n",
       "      <td>-0.001282</td>\n",
       "      <td>0.999999</td>\n",
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       "      <td>-0.035608</td>\n",
       "      <td>-0.002991</td>\n",
       "      <td>0.000821</td>\n",
       "      <td>0.999995</td>\n",
       "      <td>2.407335</td>\n",
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       "      <td>0.999991</td>\n",
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       "      <td>0.004218</td>\n",
       "      <td>-0.006803</td>\n",
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       "      <td>-0.004219</td>\n",
       "      <td>0.000474</td>\n",
       "      <td>0.999991</td>\n",
       "      <td>3.605217</td>\n",
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       "      <td>-0.005932</td>\n",
       "      <td>-0.000617</td>\n",
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       "      <td>-0.005148</td>\n",
       "      <td>0.000503</td>\n",
       "      <td>0.999987</td>\n",
       "      <td>4.807625</td>\n",
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       "    <tr>\n",
       "      <th>4</th>\n",
       "      <td>0.999982</td>\n",
       "      <td>0.000233</td>\n",
       "      <td>0.005998</td>\n",
       "      <td>-0.002676</td>\n",
       "      <td>-0.000231</td>\n",
       "      <td>1.000000</td>\n",
       "      <td>-0.000369</td>\n",
       "      <td>-0.099023</td>\n",
       "      <td>-0.005998</td>\n",
       "      <td>0.000367</td>\n",
       "      <td>0.999982</td>\n",
       "      <td>6.011686</td>\n",
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       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
       "      <td>...</td>\n",
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       "    <tr>\n",
       "      <th>1095</th>\n",
       "      <td>0.999674</td>\n",
       "      <td>0.018486</td>\n",
       "      <td>0.017636</td>\n",
       "      <td>0.309588</td>\n",
       "      <td>-0.018451</td>\n",
       "      <td>0.999827</td>\n",
       "      <td>-0.002142</td>\n",
       "      <td>-4.813883</td>\n",
       "      <td>-0.017673</td>\n",
       "      <td>0.001816</td>\n",
       "      <td>0.999842</td>\n",
       "      <td>298.364136</td>\n",
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       "      <th>1096</th>\n",
       "      <td>0.999723</td>\n",
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       "      <td>0.323237</td>\n",
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       "      <td>-0.000755</td>\n",
       "      <td>-4.829275</td>\n",
       "      <td>-0.016037</td>\n",
       "      <td>0.000479</td>\n",
       "      <td>0.999871</td>\n",
       "      <td>299.153198</td>\n",
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       "      <th>1097</th>\n",
       "      <td>0.999747</td>\n",
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       "      <td>0.014546</td>\n",
       "      <td>0.331380</td>\n",
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       "      <td>0.999853</td>\n",
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       "      <td>0.999894</td>\n",
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       "      <th>1098</th>\n",
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       "      <td>0.345279</td>\n",
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       "      <td>0.999885</td>\n",
       "      <td>0.001079</td>\n",
       "      <td>-4.859191</td>\n",
       "      <td>-0.012696</td>\n",
       "      <td>-0.001271</td>\n",
       "      <td>0.999919</td>\n",
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       "      <th>1099</th>\n",
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       "      <td>0.010893</td>\n",
       "      <td>0.348502</td>\n",
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       "      <td>0.999905</td>\n",
       "      <td>0.001920</td>\n",
       "      <td>-4.872813</td>\n",
       "      <td>-0.010865</td>\n",
       "      <td>-0.002068</td>\n",
       "      <td>0.999939</td>\n",
       "      <td>301.564575</td>\n",
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       "<p>1100 rows × 12 columns</p>\n",
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      "text/plain": [
       "      1.000000000  -0.000088794  -0.000174736  0.003704830  0.000088759  \\\n",
       "0        0.999998      0.000921      0.001840    -0.005423    -0.000918   \n",
       "1        0.999995      0.001285      0.002990    -0.005176    -0.001282   \n",
       "2        0.999991      0.000746      0.004218    -0.006803    -0.000744   \n",
       "3        0.999987      0.000619      0.005148    -0.005932    -0.000617   \n",
       "4        0.999982      0.000233      0.005998    -0.002676    -0.000231   \n",
       "...           ...           ...           ...          ...          ...   \n",
       "1095     0.999674      0.018486      0.017636     0.309588    -0.018451   \n",
       "1096     0.999723      0.017207      0.016026     0.323237    -0.017197   \n",
       "1097     0.999747      0.017154      0.014546     0.331380    -0.017158   \n",
       "1098     0.999805      0.015107      0.012714     0.345279    -0.015122   \n",
       "1099     0.999848      0.013595      0.010893     0.348502    -0.013617   \n",
       "\n",
       "      1.000000000.1  -0.000203440  0.003000986  0.000174754  0.000203424  \\\n",
       "0          0.999999     -0.001342    -0.013499    -0.001841     0.001340   \n",
       "1          0.999999     -0.000825    -0.035608    -0.002991     0.000821   \n",
       "2          1.000000     -0.000477    -0.056003    -0.004219     0.000474   \n",
       "3          1.000000     -0.000506    -0.076681    -0.005148     0.000503   \n",
       "4          1.000000     -0.000369    -0.099023    -0.005998     0.000367   \n",
       "...             ...           ...          ...          ...          ...   \n",
       "1095       0.999827     -0.002142    -4.813883    -0.017673     0.001816   \n",
       "1096       0.999852     -0.000755    -4.829275    -0.016037     0.000479   \n",
       "1097       0.999853      0.000127    -4.843719    -0.014542    -0.000376   \n",
       "1098       0.999885      0.001079    -4.859191    -0.012696    -0.001271   \n",
       "1099       0.999905      0.001920    -4.872813    -0.010865    -0.002068   \n",
       "\n",
       "      0.999999940  -0.002705306  \n",
       "0        0.999997      1.208114  \n",
       "1        0.999995      2.407335  \n",
       "2        0.999991      3.605217  \n",
       "3        0.999987      4.807625  \n",
       "4        0.999982      6.011686  \n",
       "...           ...           ...  \n",
       "1095     0.999842    298.364136  \n",
       "1096     0.999871    299.153198  \n",
       "1097     0.999894    299.964447  \n",
       "1098     0.999919    300.759399  \n",
       "1099     0.999939    301.564575  \n",
       "\n",
       "[1100 rows x 12 columns]"
      ]
     },
     "execution_count": 14,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "traj"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 15,
   "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": 16,
   "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": 16,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "traj_example[\"data\"][1]"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 24,
   "id": "b30e79c9",
   "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",
    "            }\n",
    "\n",
    "# Fill the first line\n",
    "Twc = traj.loc[0]\n",
    "# ---- Using SciPy ----\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",
    "# \"zxy\" axes in which the data was written.\n",
    "euler = Rot.as_euler('zxy', degrees=True)\n",
    "\n",
    "\n",
    "# ---- Using OpenCV ----\n",
    "# mat = np.array([[Twc[0], Twc[1], Twc[2]], \n",
    "#                [Twc[4], Twc[5], Twc[6]], \n",
    "#                [Twc[8], Twc[9], Twc[10]]])\n",
    "# euler, _ = cv.Rodrigues(mat)\n",
    "# print(euler)\n",
    "\n",
    "\n",
    "# Coordinate system in ORB-SLAM3: ZXY. Coordinate system in UE4: XYZ \n",
    "entry = {\"frame\":0, \"poses\":[{\"camera_id\":0, \"euler_angles\":[-euler[0], -euler[1], -euler[2]], \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",
    "    # \"zxy\" axes in which the data was written.\n",
    "    euler = Rot.as_euler('zxy', degrees=True)\n",
    "    entry = {\"frame\":i, \"poses\":\n",
    "                 [\n",
    "                        {\"camera_id\":0, \"euler_angles\":[-euler[0], -euler[1], -euler[2]], \n",
    "                        \"xyz_coords\":[Twc[7], Twc[11], Twc[3]]}\n",
    "                ]\n",
    "            }\n",
    "    json_traj[\"data\"].append(entry)"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": 23,
   "id": "e7426f0a",
   "metadata": {},
   "outputs": [
    {
     "data": {
      "text/plain": [
       "[{'frame': 300,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-0.88910850407191, 2.4591441886472722, 80.37741801769594],\n",
       "    'xyz_coords': [-4.726807594, 301.43762207, -6.798690796]}]},\n",
       " {'frame': 301,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-0.9075796600165297,\n",
       "     2.6294084940531683,\n",
       "     84.06915526525081],\n",
       "    'xyz_coords': [-4.722153664, 301.430114746, -7.194885254]}]},\n",
       " {'frame': 302,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-1.0180581709390197,\n",
       "     2.879258284354658,\n",
       "     87.84689637875711],\n",
       "    'xyz_coords': [-4.704548836, 301.407470703, -7.62802124]}]},\n",
       " {'frame': 303,\n",
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       "    'xyz_coords': [-4.676095963, 301.247314453, -8.476318359]}]},\n",
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       "    'xyz_coords': [-4.661017418, 301.130187988, -8.901000977]}]},\n",
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       "    'xyz_coords': [-4.596663475, 300.598937988, -10.18258667]}]},\n",
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       " {'frame': 380,\n",
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       " {'frame': 381,\n",
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       " {'frame': 383,\n",
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       "     1.8075873287730495,\n",
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       "    'xyz_coords': [-2.708491802, 216.970916748, -16.671417236]}]},\n",
       " {'frame': 384,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-3.195458906527444,\n",
       "     1.9312694968116353,\n",
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       "    'xyz_coords': [-2.687223673, 215.521942139, -16.653297424]}]},\n",
       " {'frame': 385,\n",
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       "    'xyz_coords': [-2.660978317, 214.072937012, -16.63571167]}]},\n",
       " {'frame': 386,\n",
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       "    'euler_angles': [-3.2074211057239954,\n",
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       "    'xyz_coords': [-2.639802694, 212.618713379, -16.614379883]}]},\n",
       " {'frame': 387,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-3.216999367702726,\n",
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       " {'frame': 388,\n",
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       "    'xyz_coords': [-2.601182222, 209.684906006, -16.582042694]}]},\n",
       " {'frame': 389,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-3.1868768027737677,\n",
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       "     -179.56407156173285],\n",
       "    'xyz_coords': [-2.57765007, 208.228973389, -16.562082291]}]},\n",
       " {'frame': 390,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-3.1263388271258927,\n",
       "     1.723627893751499,\n",
       "     -179.54794233563123],\n",
       "    'xyz_coords': [-2.555302858, 206.760681152, -16.544754028]}]},\n",
       " {'frame': 391,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-3.078237775897662,\n",
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       "    'xyz_coords': [-2.533575535, 205.28314209, -16.521953583]}]},\n",
       " {'frame': 392,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-3.0238827362322227,\n",
       "     1.835506201764444,\n",
       "     -179.55914947264662],\n",
       "    'xyz_coords': [-2.508204937, 203.806381226, -16.496244431]}]},\n",
       " {'frame': 393,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-3.0838118926527187,\n",
       "     1.785753740132584,\n",
       "     -179.54746539777227],\n",
       "    'xyz_coords': [-2.488462925, 202.318557739, -16.481742859]}]},\n",
       " {'frame': 394,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-3.0851195711853046,\n",
       "     1.7808260813959795,\n",
       "     -179.545634704041],\n",
       "    'xyz_coords': [-2.465270996, 200.845108032, -16.462884903]}]},\n",
       " {'frame': 395,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-3.1344294649994167,\n",
       "     1.88001781024324,\n",
       "     -179.56864550021783],\n",
       "    'xyz_coords': [-2.446104288, 199.37286377, -16.448390961]}]},\n",
       " {'frame': 396,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-3.1221836161758083,\n",
       "     2.035542389299365,\n",
       "     -179.61367801315038],\n",
       "    'xyz_coords': [-2.424544096, 197.889984131, -16.428527832]}]},\n",
       " {'frame': 397,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-3.046007500095521,\n",
       "     2.059107249386814,\n",
       "     -179.6853840612038],\n",
       "    'xyz_coords': [-2.399994612, 196.441604614, -16.409934998]}]},\n",
       " {'frame': 398,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-2.999390812693269, 2.0454763891517165, -179.73245683146],\n",
       "    'xyz_coords': [-2.372132778, 194.966171265, -16.398878098]}]},\n",
       " {'frame': 399,\n",
       "  'poses': [{'camera_id': 0,\n",
       "    'euler_angles': [-2.9739802615108935,\n",
       "     2.092353575494336,\n",
       "     -179.78260116458497],\n",
       "    'xyz_coords': [-2.349857807, 193.513824463, -16.387588501]}]}]"
      ]
     },
     "execution_count": 23,
     "metadata": {},
     "output_type": "execute_result"
    }
   ],
   "source": [
    "json_traj[\"data\"][300:400]"
   ]
  },
  {
   "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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