Enable injection of external poses in the sfmData

meshroom/aliceVision/SfMPoseInjecting.py

@@ -13,6 +13,64 @@ class SfMPoseInjecting(desc.AVCommandLineNode):
     category = "Utils"
     documentation = """
 Use a JSON file to inject poses inside the SfMData.
+
+[
+    {
+        'frame_no': 45,
+        'rx': 1.2,
+        'ry': -0.3,
+        'rz': 0.1
+        'tx': 5,
+        'ty': 6,
+        'tz': -2
+    }
+]
+
+or
+
+[
+    {
+        'path': "image_filename",
+        'rx': 1.2,
+        'ry': -0.3,
+        'rz': 0.1
+        'tx': 5,
+        'ty': 6,
+        'tz': -2
+    }
+]
+
+or
+
+[
+    {
+        'path': "/path/to/image",
+        'rx': 1.2,
+        'ry': -0.3,
+        'rz': 0.1
+        'tx': 5,
+        'ty': 6,
+        'tz': -2
+    }
+]
+
+
+frame_no is the detected frameId which is set by the number found in the image filename.
+
+Let's say you have a point with coordinates in the *camera frame*. The coordinates in the common world frame are given by the rotation matrix world_R_camera and the translation vector world_t_camera such that 
+
+worldFramePoint = world_R_camera * cameraFramePoint + world_t_camera
+
+world_t_camera is defined by the triplet [tx, ty, tz] in the json file
+world_R_camera is defined by the triplet [rx, ry, rz] (in degrees) in the json file.
+
+The matrix world_R_camera is built from the triplet, transformed using a function R depending on rotationFormat.
+
+If rotationFormat is EulerZXY, then world_R_camera = R_y(ry) * R_x(rx) * R_z(rz)
+Where R_x(rx) is the rotation along the x axis of rx degrees, R_y(ry) is the rotation along the y axis of ry degrees, R_z(rz) is the rotation along the z axis of rz degrees. It is the ZXY euler representation.
+
+Meshroom assumes that the axis x, y and z of the geometric frame in which you define the rotation and the translation is in Right hand coordinates where X points to the right, Y points downward, and Z points away from the camera. But you can change this using geometricFrame. 
+
 """
 
     inputs = [
@@ -36,6 +94,15 @@ class SfMPoseInjecting(desc.AVCommandLineNode):
             values=["EulerZXY"],
             value="EulerZXY",
         ),
+        desc.ChoiceParam(
+            name="geometricFrame",
+            label="Geometric Frame",
+            description="Defines the geometric frame for the input poses:\n"
+                        " - RHXrYbZf : Right hand coordinates, X right, Y down, Z far"
+                        " - RHXrYtZb : Right hand coordinates, X right, Y up, Z behind",
+            values=["RHXrYbZf", "RHXrYtZb"],
+            value="RHXrYbZf",
+        ),
         desc.ChoiceParam(
             name="verboseLevel",
             label="Verbose Level",

src/software/convert/CMakeLists.txt

@@ -18,19 +18,6 @@ if (ALICEVISION_BUILD_SFM)
               Boost::system
     )
 
-    alicevision_add_software(aliceVision_importKnownPoses
-        SOURCE main_importKnownPoses.cpp
-        FOLDER ${FOLDER_SOFTWARE_CONVERT}
-        LINKS aliceVision_localization
-              aliceVision_feature
-              aliceVision_sfmData
-              aliceVision_sfmDataIO
-              aliceVision_cmdline
-              Boost::program_options
-              Boost::boost
-              Boost::timer
-    )
-
     if (TARGET E57Format AND ALICEVISION_BUILD_MVS)
         alicevision_add_software(aliceVision_importE57
             SOURCE main_importE57.cpp