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Fix: Passing sensor_t into sensor_from_rig #12

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Merged
nushakrishnan merged 3 commits into from
Oct 14, 2025
Merged

Fix: Passing sensor_t into sensor_from_rig #12

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865af39
sensor_t issue
nushakrishnan Oct 14, 2025
6e45892
naming
nushakrishnan Oct 14, 2025
c3d467b
naming of sensor ids
nushakrishnan Oct 14, 2025
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11 changes: 7 additions & 4 deletions lamaria/structs/trajectory.py
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Original file line number Diff line number Diff line change
Expand Up @@ -244,14 +244,17 @@ def _add_images_to_reconstruction(

image_id = 1
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@sarlinpe sarlinpe Oct 14, 2025

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This won't work if the reconstruction already has images, cameras, or rigs, should we assert this? or make this code more generic?

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@nushakrishnan nushakrishnan Oct 14, 2025

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It is a hidden function that we don't want to expose. We only use it to add estimate poses to an already initialized reconstruction:

lamaria/lamaria/structs/trajectory.py

Lines 78 to 91 in c3d467b

def add_estimate_poses_to_reconstruction(
self,
reconstruction: pycolmap.Reconstruction,
timestamp_to_images: dict,
) -> pycolmap.Reconstruction:
"""
Adds estimate poses as frames to input reconstruction.
"""
self._ensure_loaded()
reconstruction = self._add_images_to_reconstruction(
reconstruction, timestamp_to_images
)
return reconstruction

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@nushakrishnan nushakrishnan Oct 14, 2025

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Whereas the more general function is to initialize the reconstruction with a calibration file (pinhole/Aria camera):

lamaria/lamaria/utils/aria.py

Line 31 in c3d467b

def initialize_reconstruction_from_calibration_file(

# imu is the rig in this reconstruction
rig = reconstruction.rig(rig_id=1)
imu_id = 1
left_camera_id = 2
right_camera_id = 3

rig = reconstruction.rig(rig_id=imu_id)

if self.corresponding_sensor == "imu":
transform = pycolmap.Rigid3d()
else:
# left camera poses are provided
# sensor_from_rig == cam0_from_imu
left_camera_id = 2
left_camera = reconstruction.cameras[left_camera_id]
transform = rig.sensor_from_rig(sensor_id=left_camera.sensor_id)

Expand All @@ -278,8 +281,8 @@ def _add_images_to_reconstruction(
images_to_add = []

for label, camera_id in [
(LEFT_CAMERA_STREAM_LABEL, 2),
(RIGHT_CAMERA_STREAM_LABEL, 3),
(LEFT_CAMERA_STREAM_LABEL, left_camera_id),
(RIGHT_CAMERA_STREAM_LABEL, right_camera_id),
]:
source_timestamps = timestamp_to_images[label]["sorted_keys"]
# offsets upto 1 ms (1e6 ns)
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