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roboweldar-3d-reconstruction / Coordinate Transform

transform_poses.py is a script which transforms the reconstructed model produced by AliceVision Meshroom into the world frame, for use in the path planning for welding.

Getting Started

For installing basic requirements, see the main README.md. :

Running the script

To run the standalone script, from transform_poses.py import transform_model_to_world_coordinates(), which takes the following arguments:

  • path_to_poses_dir: the path to the directory which contains the raw images and .npy camera pose files.
  • path_to_cameras_sfm: the path to the directory which contains the cameras.sfm file, typically located in the cache/*/StructureFromMotion directory.
  • path_to_computed_mesh: the path to the directory which contains the .obj, .png and .mtl files, typically located in the cache/*/Texturing directory.
  • path_to_transformed_mesh_dir: the path to the directory where the script should output the transformed mesh files (WARNING: directory should exist).
  • show_plot: (Optional) If true, the real camera positions and computed positions, as well as the original and transformed meshes are visualized in a popup.
  • exclude_poses: (Optional) A list of strings containing the filenames (without extensions) of the images corresponding to the camera positions that you would like to exclude from the computation.

Implementation details

The script uses the known camera positions provided by the robot, in the world frame, to perform a series of linear transformation (traslation, rotation, scaling) in order to bring the model from the arbitrary frame into the world frame.

The following trasnformations are used:

under construction

Authors

  • Orfeas Kypris - Initial work - orphefs

See also the list of contributors who participated in this project.

License

This project is licensed under the MIT License - see the LICENSE.md file for details

Acknowledgments

  • Props to the AliceVision Meshroom development community
  • Props to my cats for being cool