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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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3 changes: 2 additions & 1 deletion lamaria/structs/trajectory.py
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Original file line number Diff line number Diff line change
Expand Up @@ -251,7 +251,8 @@ def _add_images_to_reconstruction(
else:
# left camera poses are provided
# sensor_from_rig == cam0_from_imu
transform = rig.sensor_from_rig(sensor_id=2)
left_camera = reconstruction.cameras[2]
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@sarlinpe sarlinpe Oct 14, 2025

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Why 2? Try to avoid magic numbers or at least document them properly using a variable with unambiguous name.

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@nushakrishnan nushakrishnan Oct 14, 2025

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I updating the naming for better clarity, the 2 for left camera comes from this function here where we build an initial reconstruction from a device calibration (for evaluation of each sequence).

lamaria/lamaria/utils/aria.py

Lines 31 to 74 in 6e45892

def initialize_reconstruction_from_calibration_file(
calibration_file: Path,
) -> InitReconstruction:
"""Initialize a COLMAP reconstruction from Aria calibration
json file found on website: https://lamaria.ethz.ch/slam_datasets
Adds a dummy camera as an IMU along with two cameras.
Args:
calibration_file (Path):
Path to the Aria calibration json file
Returns:
InitReconstruction: The initialized COLMAP reconstruction
"""
reconstruction = pycolmap.Reconstruction()
imu = pycolmap.Camera(camera_id=1, model="SIMPLE_PINHOLE", params=[0, 0, 0])
reconstruction.add_camera(imu)
rig = pycolmap.Rig(rig_id=1)
ref_sensor = pycolmap.sensor_t(
id=1, # imu is the rig
type=pycolmap.SensorType.CAMERA,
)
rig.add_ref_sensor(ref_sensor)
for i, (key, _) in enumerate(ARIA_CAMERAS):
cam = camera_colmap_from_json(
calibration_file=calibration_file,
camera_label=key,
)
cam.camera_id = i + 2 # start from 2 since 1 is imu
reconstruction.add_camera(cam)
sensor = pycolmap.sensor_t(id=i + 2, type=pycolmap.SensorType.CAMERA)
rig_from_sensor = get_t_imu_camera_from_calibration_file(
calibration_file=calibration_file,
camera_label=key,
)
sensor_from_rig = rig_from_sensor.inverse()
rig.add_sensor(sensor, sensor_from_rig)
reconstruction.add_rig(rig)
return reconstruction

transform = rig.sensor_from_rig(sensor_id=left_camera.sensor_id)

for i, (timestamp, pose) in tqdm(
enumerate(pose_data),
Expand Down