Levarage Theia for rotation comparison

[anhdu...@gmail.com]

Hi,

Thanks for sharing a great tool as Theia. I would like to use and refer some functions of Theia for evaluation of structure from motion.

I am trying to align orientation between cameras of reconstructed 3D point cloud and the groundtruth.

My rotation of my groundtruth is Euler angles in degree. I leverage the Theia Camera object to store my groundtruth, so I use function "SetOrientationFromRotationMatrix". I would like to know that your Camera object considers orientation angle as radian or degree???

I read the code within applications/compare_reconstructions.cc. The function "AngularDifference" use Angle() function of Eigen which seems to return radians. However, within function "EvaluateRotations" which uses "AngularDifference" as degree.

So I am quite confused, could you please help me?

Thank you very much!

[Chris Sweeney]

Internally, the camera class stores an angle-axis vector so neither radians nor degrees are explicitly represented.

Good catch about compare_reconstructions! Could you submit a fix for this? All you'd have to do is add the function theia::RadToDeg to AngularDifference to convert from radians to degrees.

Chris

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