[Fix] Bugs in camera param

openxrlab · Oct 30, 2023 · 312cc34 · 312cc34
1 parent c0534b5
commit 312cc34
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Showing 3 changed files with 4 additions and 5 deletions.
diff --git a/xrfeitoria/camera/camera_base.py b/xrfeitoria/camera/camera_base.py
@@ -85,7 +85,7 @@ def dump_params(self, output_path: PathLike) -> None:
 
         # dump
         K, R, T = self.get_KRT()
-        camera_param = CameraParameter(K=K, R=R, T=T)
+        camera_param = CameraParameter(K=K, R=R, T=T, world2cam=True)
         camera_param.dump(output_path.as_posix())
         logger.debug(f'Camera parameters dumped to "{output_path.as_posix()}"')
 

diff --git a/xrfeitoria/camera/camera_parameter.py b/xrfeitoria/camera/camera_parameter.py
@@ -122,7 +122,6 @@ def fromfile(cls, file: PathLike) -> 'CameraParameter':
         """
         file = str(file)
         ret_cam = PinholeCameraParameter.fromfile(file)
-        ret_cam.load(file)
         return cls._from_pinhole(ret_cam)
 
     @classmethod
@@ -158,11 +157,11 @@ def from_bin(cls, file: PathLike) -> 'CameraParameter':
         # extrinsic matrix RT
         x, y, z = -rotation[1], -rotation[2], -rotation[0]
         R = rotation_matrix([x, y, z], order='xyz', degrees=True)
-        T = np.array([location[1], -location[2], location[0]]) / 100.0  # unit: meter
+        _T = np.array([location[1], -location[2], location[0]]) / 100.0  # unit: meter
+        T = -R @ _T
 
         # construct camera parameter
         cam_param = cls(K=K, R=R, T=T, world2cam=True)
-        cam_param.inverse_extrinsic()
         return cam_param
 
     @classmethod

diff --git a/xrfeitoria/utils/projector.py b/xrfeitoria/utils/projector.py
@@ -24,7 +24,7 @@ def project_points3d(points3d: np.ndarray, camera_param: CameraParameter) -> np.
 
     # convert to opencv convention, and cam2world
     _camera_param = camera_param.clone()
-    if _camera_param.world2cam:
+    if not _camera_param.world2cam:
         _camera_param.inverse_extrinsic()
     if _camera_param.convention != 'opencv':
         _camera_param.convert_convention(dst='opencv')