Trying to import photos with known parameters..

[Bastkop]

pi2_1.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_2.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_3.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_4.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_5.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_6.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_7.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_8.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_9.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_10.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_11.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_12.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_13.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_14.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_15.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_16.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_17.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_18.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_19.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_20.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_21.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_22.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_23.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_24.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_25.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_26.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_27.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_28.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_29.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_30.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_31.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_32.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_33.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_34.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_35.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_36.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_37.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_38.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_39.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_40.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_41.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_42.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_43.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0
pi2_44.jpeg 2405.95 2405.95 1301.5 949.66 0 0.0315453 0.892034 -4.31594 0 0

This is what my external parameters look like:

photoname x y z a1 a2 a3

x,y,z : Position of the camera in mm; Zero is in the middlle of the platform at the bottom
a1: euler around z-axis
a2: euler around x-axis
a3: euler around y-axis

pi2_1.jpeg 8.690289748614184191e+02 -4.109307546670249423e+01 7.732000000000000455e+02 -2.707282915628596243e+00 9.000000000000000000e+01 0.000000000000000000e+00
pi2_2.jpeg 8.556168753221261341e+02 -1.575428915057778454e+02 9.515000000000000000e+02 -1.043289347717543158e+01 9.000000000000000000e+01 0.000000000000000000e+00
pi2_3.jpeg 8.257909797054279579e+02 -2.738051457462942153e+02 1.125000000000000000e+03 -1.834382425835150698e+01 9.000000000000000000e+01 0.000000000000000000e+00
pi2_4.jpeg 7.792959968010299008e+02 -3.867786826725190394e+02 1.306500000000000000e+03 -2.639603536281389751e+01 9.000000000000000000e+01 0.000000000000000000e+00
pi2_5.jpeg 7.163443112606806835e+02 -4.937112797217226898e+02 7.732000000000000455e+02 -3.457497909303876327e+01 9.000000000000000000e+01 0.000000000000000000e+00
pi2_6.jpeg 6.405275036868602001e+02 -5.887482628600098451e+02 9.515000000000000000e+02 -4.258802756415273194e+01 9.000000000000000000e+01 0.000000000000000000e+00
pi2_7.jpeg 5.534570597942255290e+02 -6.712564956586498965e+02 1.125000000000000000e+03 -5.049410998869777245e+01 9.000000000000000000e+01 0.000000000000000000e+00
pi2_8.jpeg 4.540028596896954127e+02 -7.421464837844202975e+02 1.306500000000000000e+03 -5.854408480510500112e+01 9.000000000000000000e+01 0.000000000000000000e+00
pi2_9.jpeg 3.439256406570594891e+02 -7.991340023416794338e+02 7.732000000000000455e+02 -6.671426470374140649e+01 9.000000000000000000e+01 0.000000000000000000e+00
pi2_10.jpeg 2.288980687193345602e+02 -8.393483628009045106e+02 9.515000000000000000e+02 -7.474584204339683424e+01 9.000000000000000000e+01 0.000000000000000000e+00
pi2_11.jpeg 1.054255063048346983e+02 -8.635887114942906919e+02 1.125000000000000000e+03 -8.303986394842291929e+01 9.000000000000000000e+01 0.000000000000000000e+00
pi2_12.jpeg -1.522757333847971495e+01 -8.698667260047490117e+02 1.306500000000000000e+03 -9.100289682566231875e+01 9.000000000000000000e+01 0.000000000000000000e+00
pi2_13.jpeg -1.388237640799452493e+02 -8.588527012978859148e+02 7.732000000000000455e+02 -9.918179588197550345e+01 9.000000000000000000e+01 0.000000000000000000e+00
pi2_14.jpeg -2.570008092114246665e+02 -8.311742200433510561e+02 9.515000000000000000e+02 -1.071817183147012003e+02 9.000000000000000000e+01 0.000000000000000000e+00
pi2_15.jpeg -3.785408275208123996e+02 -7.833306083001343723e+02 1.125000000000000000e+03 -1.157919371624715836e+02 9.000000000000000000e+01 0.000000000000000000e+00
pi2_16.jpeg -4.872265664885924252e+02 -7.207706104633687119e+02 1.306500000000000000e+03 -1.240579095499627584e+02 9.000000000000000000e+01 0.000000000000000000e+00
pi2_17.jpeg -5.846783292229747531e+02 -6.442447138603705525e+02 7.732000000000000455e+02 -1.322250227651783234e+02 9.000000000000000000e+01 0.000000000000000000e+00
pi2_18.jpeg -6.681270195652680286e+02 -5.572309088042693475e+02 9.515000000000000000e+02 -1.401712374937807795e+02 9.000000000000000000e+01 0.000000000000000000e+00
pi2_19.jpeg -7.399364003108835277e+02 -4.575960265288280766e+02 1.125000000000000000e+03 -1.482662691797742980e+02 9.000000000000000000e+01 0.000000000000000000e+00
pi2_20.jpeg -7.964679380569523346e+02 -3.500554579596022791e+02 1.306500000000000000e+03 -1.562740409562712784e+02 9.000000000000000000e+01 0.000000000000000000e+00
pi2_21.jpeg -8.378456727680595577e+02 -2.343387049205433641e+02 7.732000000000000455e+02 -1.643741207133844853e+02 9.000000000000000000e+01 0.000000000000000000e+00
pi2_22.jpeg -8.616367652356311737e+02 -1.203415339534842587e+02 9.515000000000000000e+02 -1.720491480689397576e+02 9.000000000000000000e+01 0.000000000000000000e+00
pi2_23.jpeg -8.699993722321241876e+02 -1.045139086310036047e+00 1.125000000000000000e+03 -1.799311700309619368e+02 9.000000000000000000e+01 0.000000000000000000e+00
pi2_24.jpeg -8.615388230628996098e+02 1.210407218889304914e+02 1.306500000000000000e+03 -1.879973480813546871e+02 9.000000000000000000e+01 0.000000000000000000e+00
pi2_25.jpeg -8.357167961879815721e+02 2.418210837981161774e+02 7.732000000000000455e+02 -1.961382065906198306e+02 9.000000000000000000e+01 0.000000000000000000e+00
pi2_26.jpeg -7.958880849558886439e+02 3.513718204768964029e+02 9.515000000000000000e+02 -2.038206891144670863e+02 9.000000000000000000e+01 0.000000000000000000e+00

.. needed to cut here, because I can only post 10000 characters, but the list goes on until pi2_44.jpeg

Someones got a tip, what I'm doing wrong?
Greetings from Germany

[Andrea Alessi]

Hi Basktop,

i would need a test dataset, but i think the issue here is that you are feeding the data as z,x,y euler angles, while by default zephyr asks for x,y,z. Make sure to change the order accordingly




That is just a guess, eventually consider feeding the data as position and rotation matrix to make sure you are feeding the correct transformation.

If you want to share the full dataset i can try taking a swing at it

[Bastkop]

Hi Andrea,

I already changed the angle order in Zephyr according to my txt's. Also managed to create a rotation matrix, but it still fails while computing.

Here's an example set of data including 44 Photos, txt with euler angels and txt with rotation matrix:

https://www.dropbox.com/s/4r1rj35zuuwjxg0/amboss.rar?dl=0

Thanks for your help!

[Andrea Alessi]

Hi Bastkop,

the files are formatted correctly.

My suspicion is that you are purposedly ignoring a rotation because your camera is on a fixed arm, but zephyr is not aware of that, so you will need to explicitly include that rotation. Just a hunch.

Another solution would be to use an easier subject to reconstruct as a calibration test run, then export those cameras. I assume your system will always shoot in that configuration, so you can use the normal recosntruction pipeline to calibrate your rig, export the cameras and then use them. If this is not possible or would still go the other way around, you'll have to make sure you are exporting the full positions and rotations of the cameras.