static (View view, PoseDesc pose) GnssToViewPose(GPSPosition origin, GPSPosition gnssPos, uint TimeStamp)
{
var frameNum = FrameChunks.FrameCloseTo(TimeStamp + 500, SourceVideo.TIME_BASE);
var id = ViewIDs.Get(frameNum);
var pos = origin.GetVector(gnssPos);
var pose = new PoseDesc
{
poseId = $"{id}",
pose = new Pose
{
transform = new Transform
{
center = new float[] { pos.x, -pos.y, pos.z },
rotation = new float[]
{
1, 0, 0,
0, 1, 0,
0, 0, 1,
},
}
}
};
var view = new View
{
viewId = pose.poseId,
poseId = pose.poseId,
path = frameNum.ToString("D4") + ".jpg",
metadata = new Metadata {
},
};
return(view, pose);
}
public static void PhotogrammImages(
string MeshroomComputeBin,
string SensorDatabase, string VocTree, string ImagesDir,
TimeBase TimeBase, uint LastFrame,
ComputeProgress ComputeProgressCB,
AutoResetEvent AbortEvent)
{
var chunks = FrameChunks.GetChunks(TimeBase, LastFrame);
var graphs = MeshroomGraphs(SensorDatabase, VocTree, ImagesDir, chunks);
int chunkNum = 0;
foreach (var graph in graphs)
{
RunMeshroomCompute(MeshroomComputeBin, ImagesDir, graph, chunkNum,
(done) => ComputeProgressCB(chunkNum, done),
AbortEvent);
chunkNum += 1;
}
/* clean-up last meshroom cache directory */
RemoveCacheDir(ImagesDir, chunkNum);
}
