Claude: Kameras in Vizual

pipeline/3_multiview_bundle_adjustment_v4.py

@@ -1324,6 +1324,21 @@ def main() -> None:
     out_dir = args.outDir or os.path.dirname(args.detections[0]) or "."
     os.makedirs(resolve_path(out_dir), exist_ok=True)
 
+    # camera poses in world (for viewer frusta): centre C = -R^T t, view axis = R[2]
+    cameras_section = []
+    for idx, (K, D, R_wc, t_wc) in enumerate(cameras):
+        C = -R_wc.T @ t_wc
+        cam_id = str(idx)
+        base = os.path.basename(str(obs_metadata[idx].get("pose_file", ""))) if idx < len(obs_metadata) else ""
+        if base.startswith("render_") and "_camera_pose" in base:
+            cam_id = base[len("render_"):base.index("_camera_pose")]
+        cameras_section.append({
+            "camera_id": cam_id,
+            "position_m": [float(v) for v in C],
+            "position_mm": [float(v * 1000.0) for v in C],
+            "direction": [float(v) for v in R_wc[2]],
+        })
+
     initial_output_markers = []
     for marker_id, position in sorted(initial_pos.items()):
         normal = marker_meta.get(marker_id, {}).get("normal", None)
@@ -1346,6 +1361,7 @@ def main() -> None:
             "num_markers": len(initial_pos),
             "num_constraints": len(constraints),
         },
+        "cameras": cameras_section,
         "markers": initial_output_markers,
     }
     initial_out_file = os.path.join(out_dir, "aruco_positions_initial.json")
@@ -1407,6 +1423,7 @@ def main() -> None:
             "num_markers": len(optimized_pos),
             "num_constraints": len(constraints),
         },
+        "cameras": cameras_section,
         "markers": output_markers,
     }
     out_file = os.path.join(out_dir, "aruco_positions_optimized.json")

pipeline/3b_corner_marker_poses.py

@@ -160,12 +160,25 @@ def main() -> None:
             "edge_length_mm": edge_mm,
         })
 
+    # camera poses in world (for viewer frusta): centre C = -R^T t, view axis = R[2]
+    cameras_out = []
+    for cid in sorted(cams.keys()):
+        cam = cams[cid]
+        C = -cam["R"].T @ cam["t"]
+        cameras_out.append({
+            "camera_id": cid,
+            "position_m": [float(v) for v in C],
+            "position_mm": [float(v * 1000.0) for v in C],
+            "direction": [float(v) for v in cam["R"][2]],
+        })
+
     out_path = args.out or os.path.join(args.evalDir, "aruco_marker_poses.json")
     output = {
-        "schema_version": "1.0",
+        "schema_version": "1.1",
         "stage": "corner_marker_poses",
         "created_utc": time.strftime("%Y-%m-%dT%H:%M:%SZ", time.gmtime()),
         "summary": {"num_cameras": len(cams), "num_markers": len(markers_out)},
+        "cameras": cameras_out,
         "markers": markers_out,
     }
     json.dump(output, open(out_path, "w", encoding="utf-8"), indent=2)