Revert "Fix coordinate system conversion of unreal"

This reverts commit cf9edee.

src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Private/Annotator.cpp

@@ -226,11 +226,8 @@ void AAnnotator::ExportSkeletalMeshParameters(int FrameNumber)
 
 		// Save Actor Info (location, rotation, stencil value)
 		{
-			FTransform ActorTransform = SkeletalMeshComponent->GetOwner()->GetActorTransform();
-			UXF_BlueprintFunctionLibrary::ConvertUnrealToOpenCV(ActorTransform);
-			UE_LOG(LogTemp, Warning, TEXT("ActorTransform: %s"), *ActorTransform.ToString());
-			FVector ActorLocation = ActorTransform.GetLocation();
-			FRotator ActorRotation = ActorTransform.Rotator();
+			FVector ActorLocation = SkeletalMeshComponent->GetOwner()->GetActorLocation();
+			FRotator ActorRotation = SkeletalMeshComponent->GetOwner()->GetActorRotation();
 			int StencilValue = SkeletalMeshComponent->CustomDepthStencilValue;
 
 			TArray<float> ActorInfo;

src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Private/XF_BlueprintFunctionLibrary.cpp

@@ -1075,34 +1075,3 @@ void UXF_BlueprintFunctionLibrary::SaveTextToFile(const FString StringToWrite, F
 		       TEXT("FileManipulation: Failed to write FString to file."));
 	}
 }
-
-void UXF_BlueprintFunctionLibrary::ConvertCoordinateSystem(FTransform& Transform, const EAxis SrcXInDstAxis, const EAxis SrcYInDstAxis, const EAxis SrcZInDstAxis)
-{
-	// Unreal Engine:
-	//   Front : X
-	//   Right : Y
-	//   Up    : Z
-	//
-	// OpenCV:
-	//   Front : Z
-	//   Right : X
-	//   Up    : Yn
-
-	FMatrix M12 = FMatrix::Identity;
-
-	M12.SetColumn(0, UnitVectorFromAxisEnum(SrcXInDstAxis));
-	M12.SetColumn(1, UnitVectorFromAxisEnum(SrcYInDstAxis));
-	M12.SetColumn(2, UnitVectorFromAxisEnum(SrcZInDstAxis));
-
-	Transform.SetFromMatrix(M12.GetTransposed() * Transform.ToMatrixWithScale() * M12);
-}
-
-void UXF_BlueprintFunctionLibrary::ConvertUnrealToOpenCV(FTransform& Transform)
-{
-	ConvertCoordinateSystem(Transform, EAxis::Y, EAxis::Zn, EAxis::X);
-}
-
-void UXF_BlueprintFunctionLibrary::ConvertOpenCVToUnreal(FTransform& Transform)
-{
-	ConvertCoordinateSystem(Transform, EAxis::Z, EAxis::X, EAxis::Yn);
-}

src/XRFeitoriaUnreal/Source/XRFeitoriaUnreal/Public/XF_BlueprintFunctionLibrary.h

@@ -194,39 +194,6 @@ class XRFEITORIAUNREAL_API UXF_BlueprintFunctionLibrary : public UBlueprintFunct
 			FVector& CenterLoc,
 			bool& bIsHit);
 
-public:
-	/** Enumeration to specify any cartesian axis in positive or negative directions */
-	enum class EAxis
-	{
-		X, Y, Z,
-		Xn, Yn, Zn,
-	};
-
-	// These axes must match the order in which they are declared in EAxis
-	inline static const TArray<FVector> UnitVectors =
-	{
-		{  1,  0,  0 }, //  X
-		{  0,  1,  0 }, //  Y
-		{  0,  0,  1 }, //  Z
-		{ -1,  0,  0 }, // -X
-		{  0, -1,  0 }, // -Y
-		{  0,  0, -1 }, // -Z
-	};
-
-	static const FVector& UnitVectorFromAxisEnum(const EAxis Axis)
-	{
-		return UnitVectors[std::underlying_type_t<EAxis>(Axis)];
-	};
-
-	/** Converts in-place the coordinate system of the given FTransform by specifying the source axes in terms of the destination axes */
-	static void ConvertCoordinateSystem(FTransform& Transform, const EAxis DstXInSrcAxis, const EAxis DstYInSrcAxis, const EAxis DstZInSrcAxis);
-
-	/** Converts in-place an FTransform in Unreal coordinates to OpenCV coordinates */
-	static void ConvertUnrealToOpenCV(FTransform& Transform);
-
-	/** Converts in-place an FTransform in OpenCV coordinates to Unreal coordinates */
-	static void ConvertOpenCVToUnreal(FTransform& Transform);
-
 private:
 	static void SaveTextToFile(
 		const FString StringToWrite,

xrfeitoria/utils/converter.py

@@ -191,7 +191,8 @@ def vec_amass2humandata(cls, vector: np.ndarray) -> np.ndarray:
 
 
 class ConverterUnreal:
-    units_scale = 100.0  # 1 meter = 100 cm
+    UNITS_SCALE = 100.0  # 1 meter = 100 cm
+    ROTATION_OFFSET = [0, 0, -90.0]  # (x, y, z) in degrees, around z-axis (left-handed)
 
     @classmethod
     def rotation_camera_from_ue(cls, euler, degrees=True) -> np.ndarray:
@@ -209,7 +210,7 @@ def rotation_camera_from_ue(cls, euler, degrees=True) -> np.ndarray:
         return rotation_matrix([x, y, z], order='xyz', degrees=degrees)
 
     @classmethod
-    def rotation_from_ue(cls, euler, degrees=True) -> np.ndarray:
+    def rotation_from_ue(cls, euler, offset=ROTATION_OFFSET, degrees=True) -> np.ndarray:
         """Convert from ue camera space to opencv camera space convention.
 
         Args:
@@ -220,12 +221,8 @@ def rotation_from_ue(cls, euler, degrees=True) -> np.ndarray:
         Returns:
             np.ndarray: Rotation matrix 3x3.
         """
-        from scipy.spatial.transform import Rotation
-
-        rot = Rotation.from_euler('xyz', euler, degrees=True).as_rotvec()
-        rot[2] *= -1
-        rot = Rotation.from_euler('xyz', [0, 90.0, 0.0], degrees=degrees) * Rotation.from_rotvec(rot)
-        return rot.as_matrix().T
+        _euler = np.array(euler) + np.array(offset)
+        return rotation_matrix(_euler, 'zxy', degrees=degrees)
 
     @classmethod
     def location_from_ue(cls, vector: np.ndarray) -> np.ndarray:
@@ -242,9 +239,9 @@ def location_from_ue(cls, vector: np.ndarray) -> np.ndarray:
         if isinstance(vector, list):
             vector = np.array(vector)
         if vector.shape == (3,):
-            ret = np.array([vector[1], -vector[2], vector[0]]) / cls.units_scale
+            ret = np.array([vector[1], -vector[2], vector[0]]) / cls.UNITS_SCALE
         elif vector.ndim >= 2 and vector.shape[-1] == 3:
-            ret = np.stack([vector[..., 1], -vector[..., 2], vector[..., 0]], axis=-1) / cls.units_scale
+            ret = np.stack([vector[..., 1], -vector[..., 2], vector[..., 0]], axis=-1) / cls.UNITS_SCALE
         return ret