List <object> GetViewpoints(IEnumerable <string> images)
{
var views = new List <object>();
uint i = 0;
foreach (var img in images)
{
var Id = ViewIDs.Get(img);
views.Add(new
{
viewId = Id,
poseId = Id,
path = img,
intrinsicId = INTRINSIC_ID,
rigId = -1,
subPoseId = -1,
metadata = "",
});
i += 1;
}
return(views);
}
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);
}