Clarification Needed on Source and Calculation of Rotation Array in POS.txt

zhangChen341 commented 5 months ago

Hello,

I'm working with coordinate data (POS.txt ) that includes spatial positions and a rotation array, as outlined in the following format: #F=N X Y Z R An example entry from the data is as follows:

Example For an image in POS.txt : Job_202306201252_Track01_Sphere_00001.jpg 182.0801976 536.9640277 5.533966177 0.979997362 -0.011776529 0.198661731 0.19834921 -0.023510662 -0.979849396 0.016209893 0.999654221 -0.020704522

How can I get : R = [0.979997362 -0.011776529 0.198661731 0.19834921 -0.023510662 -0.979849396 0.016209893 0.999654221 -0.020704522 ]

Please Can i Know,

Calculation of Rotation Array: How is the rotation array derived?
Source of Rotation Data: Is the rotation array directly measured from metadata , or is it computed? If it is computed, could you provide details on the source data and computation methods?
Any documentation, references, or examples related to the rotation array would be greatly appreciated.

Thank you for your assistance!

Best regards, Zhang

json87 commented 5 months ago

You can refer to the paper listed in the repo page "3D reconstruction of spherical images based on incremental structure from motion". The ground-truth data is captured by using on-board high-precision POS system of the MMS.

zhangChen341 commented 5 months ago

My dataset is took from Insta360 X2 camera ,

How can i have the rotation data , Will there a seperate system to capture spatial rotations of each frame , I have x,y,z with me but i am not able to get rotations to keep in Pos.txt

Can you help me with that ?

or

Any guide to get them and use them in our dataset ! As the spatial gives good results compared to Exhaustive & Vocab tree

json87 commented 5 months ago

My dataset is took from Insta360 X2 camera ,

How can i have the rotation data , Will there a seperate system to capture spatial rotations of each frame , I have x,y,z with me but i am not able to get rotations to keep in Pos.txt

Can you help me with that ?

or

Any guide to get them and use them in our dataset ! As the spatial gives good results compared to Exhaustive & Vocab tree

For feature matching, XYZ is enough as the angles are not used in the spatial matching algorithm. Thus, you can define R as an identity matrix in the POS.txt

zhangChen341 commented 5 months ago

Okay ! But still I am loosing some poses !

Check this !

Can i know reasons where it may fail ! Like that , I thought Rotations may be one reason for that ! Is that ??

json87 / SphereSfM

Clarification Needed on Source and Calculation of Rotation Array in POS.txt #7