Example Sparse Bundle Adjustment - Revision history

Peter at 00:49, 3 September 2022

2022-09-03T00:49:31Z

← Older revision		Revision as of 00:49, 3 September 2022
Line 14:		Line 14:
	* Multiple Views		* Multiple Views
	* Scene Reconstruction		* Scene Reconstruction

			Related:
			* [[Example_Bundle_Adjustment_Graph\|\|Bundle Adjustment Graph Construction]].

	= Example Code =		= Example Code =

Peter at 00:46, 3 September 2022

2022-09-03T00:46:30Z

← Older revision		Revision as of 00:46, 3 September 2022
Line 8:		Line 8:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.40/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.41/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]

	Concepts:		Concepts:
Line 29:		Line 29:
	* modest problems shows performance that's comparable to Ceres Solver. BoofCV has yet to be applied to what would		* modest problems shows performance that's comparable to Ceres Solver. BoofCV has yet to be applied to what would
	* be now considered a truly large scale problem that takes day(s) to solve.		* be now considered a truly large scale problem that takes day(s) to solve.
			*
			* To see how you create the scene graph look at {@link ExampleBundleAdjustmentGraph}. This code skips over
			* that part since it's loaded from disk.
	*		*
	* @author Peter Abeles		* @author Peter Abeles
Line 36:		Line 39:
	// Because the Bundle Adjustment in the Large data set is popular, a file reader and writer is included		// Because the Bundle Adjustment in the Large data set is popular, a file reader and writer is included
	// with BoofCV. BoofCV uses two data types to describe the parameters in a bundle adjustment problem		// with BoofCV. BoofCV uses two data types to describe the parameters in a bundle adjustment problem
	// ~~BundleAdjustmentSceneStructure~~ is used for camera parameters, camera locations, and 3D points		// SceneStructureMetric is used for camera parameters, camera locations, and 3D points
	// ~~BundleAdjustmentObservations~~ for ~~image~~ observations of 3D points		// SceneObservations for pixel observations of 3D points in each image.
	// ExampleMultiViewSceneReconstruction gives a better feel for these data structures or you can look		// ExampleMultiViewSceneReconstruction gives a better feel for these data structures or you can look
	// at the source code of CodecBundleAdjustmentInTheLarge		// at the source code of CodecBundleAdjustmentInTheLarge

Peter at 00:30, 18 January 2022

2022-01-18T00:30:07Z

Peter at 19:49, 12 July 2021

2021-07-12T19:49:12Z

← Older revision		Revision as of 19:49, 12 July 2021
Line 8:		Line 8:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]

	Concepts:		Concepts:
Line 35:		Line 35:
	public static void main( String[] args ) throws IOException {		public static void main( String[] args ) throws IOException {
	// Because the Bundle Adjustment in the Large data set is popular, a file reader and writer is included		// Because the Bundle Adjustment in the Large data set is popular, a file reader and writer is included
	// with BoofCV. BoofCV uses two data types to describe the parameters in a bundle adjustment problem		// with BoofCV. BoofCV uses two data types to describe the parameters in a bundle adjustment problem
	// BundleAdjustmentSceneStructure is used for camera parameters, camera locations, and 3D points		// BundleAdjustmentSceneStructure is used for camera parameters, camera locations, and 3D points
	// BundleAdjustmentObservations for image observations of 3D points		// BundleAdjustmentObservations for image observations of 3D points

Peter at 02:42, 22 December 2020

2020-12-22T02:42:18Z

← Older revision		Revision as of 02:42, 22 December 2020
Line 8:		Line 8:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.35/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.37/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]

	Concepts:		Concepts:
Line 33:		Line 33:
	*/		*/
	public class ExampleBundleAdjustment {		public class ExampleBundleAdjustment {
	public static void main(String[] args) throws IOException {		public static void main( String[] args ) throws IOException {

	// Because the Bundle Adjustment in the Large data set is popular, a file reader and writer is included		// Because the Bundle Adjustment in the Large data set is popular, a file reader and writer is included
	// with BoofCV. BoofCV uses two data types to describe the parameters in a bundle adjustment problem		// with BoofCV. BoofCV uses two data types to describe the parameters in a bundle adjustment problem
Line 46:		Line 45:

	// Print information which gives you an idea of the problem's scale		// Print information which gives you an idea of the problem's scale
	System.out.println("Optimizing "+parser.scene.getParameterCount()+		System.out.println("Optimizing " + parser.scene.getParameterCount() +
	" parameters with "+parser.observations.getObservationCount()+" observations\n\n");		" parameters with " + parser.observations.getObservationCount() + " observations\n\n");

	// Configure the sparse Levenberg-Marquardt solver		// Configure the sparse Levenberg-Marquardt solver
Line 64:		Line 63:
	BundleAdjustment<SceneStructureMetric> bundleAdjustment = FactoryMultiView.bundleSparseMetric(configSBA);		BundleAdjustment<SceneStructureMetric> bundleAdjustment = FactoryMultiView.bundleSparseMetric(configSBA);
	// prints out useful debugging information that lets you know how well it's converging		// prints out useful debugging information that lets you know how well it's converging
	bundleAdjustment.setVerbose(System.out,0);		bundleAdjustment.setVerbose(System.out, null);
	// Specifies convergence criteria		// Specifies convergence criteria
	bundleAdjustment.configure(1e-6, 1e-6, 50);		bundleAdjustment.configure(1e-6, 1e-6, 50);
Line 77:		Line 76:
	long startTime = System.currentTimeMillis();		long startTime = System.currentTimeMillis();
	double errorBefore = bundleAdjustment.getFitScore();		double errorBefore = bundleAdjustment.getFitScore();
	if( !bundleAdjustment.optimize(parser.scene) ) {		if (!bundleAdjustment.optimize(parser.scene)) {
	throw new RuntimeException("Bundle adjustment failed?!?");		throw new RuntimeException("Bundle adjustment failed?!?");
	}		}
Line 83:		Line 82:
	// Print out how much it improved the model		// Print out how much it improved the model
	System.out.println();		System.out.println();
	System.out.printf("Error reduced by %.1f%%\n",(100.0*(errorBefore/bundleAdjustment.getFitScore()-1.0)));		System.out.printf("Error reduced by %.1f%%\n", (100.0*(errorBefore/bundleAdjustment.getFitScore() - 1.0)));
	System.out.println(BoofMiscOps.milliToHuman(System.currentTimeMillis()-startTime));		System.out.println(BoofMiscOps.milliToHuman(System.currentTimeMillis() - startTime));

	// Return parameters to their original scaling. Can probably skip this step.		// Return parameters to their original scaling. Can probably skip this step.
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	}		}

	private static void visualizeInPointCloud(SceneStructureMetric structure ) {		private static void visualizeInPointCloud( SceneStructureMetric structure ) {

	List<Point3D_F64> cloudXyz = new ArrayList<>();		List<Point3D_F64> cloudXyz = new ArrayList<>();
	Point3D_F64 world = new Point3D_F64();		Point3D_F64 world = new Point3D_F64();
	Point3D_F64 camera = new Point3D_F64();		Point3D_F64 camera = new Point3D_F64();

	for( int i = 0; i < structure.points.size; i++ ) {		for (int i = 0; i < structure.points.size; i++) {
	// Get 3D location		// Get 3D location
	~~SceneStructureMetric~~.Point p = structure.points.get(i);		SceneStructureCommon.Point p = structure.points.get(i);
	p.get(world);		p.get(world);

	// Project point into an arbitrary view		// Project point into an arbitrary view
	for (int j = 0; j < p.views.size; j++) {		for (int j = 0; j < p.views.size; j++) {
	int viewIdx = p.views.get(j);		int viewIdx = p.views.get(j);
	SePointOps_F64.transform(structure.~~views.data[~~viewIdx~~].worldToView~~,world,camera);		SePointOps_F64.transform(structure.getParentToView(viewIdx), world, camera);
	cloudXyz.add( world.copy() );		cloudXyz.add(world.copy());
	break;		break;
	}		}
Line 124:		Line 122:
	// Give it a good initial pose. This was determined through trial and error		// Give it a good initial pose. This was determined through trial and error
	Se3_F64 cameraToWorld = new Se3_F64();		Se3_F64 cameraToWorld = new Se3_F64();
	cameraToWorld.T.~~set~~(-10.848385, -6.957626, 2.9747992);		cameraToWorld.T.setTo(-10.848385, -6.957626, 2.9747992);
	ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ,-2.734419,-0.27446,-0.24310,cameraToWorld.R);		ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, -2.734419, -0.27446, -0.24310, cameraToWorld.R);
	viewer.setCameraToWorld(cameraToWorld);		viewer.setCameraToWorld(cameraToWorld);

	SwingUtilities.invokeLater(()->{		SwingUtilities.invokeLater(() -> {
	viewer.getComponent().setPreferredSize(new Dimension(600,600));		viewer.getComponent().setPreferredSize(new Dimension(600, 600));
	ShowImages.showWindow(viewer.getComponent(), "Refined Scene", true);		ShowImages.showWindow(viewer.getComponent(), "Refined Scene", true);
	});		});

	}		}
	}		}
	</syntaxhighlight>		</syntaxhighlight>

Peter at 01:03, 24 December 2019

2019-12-24T01:03:13Z

← Older revision		Revision as of 01:03, 24 December 2019
Line 8:		Line 8:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.34/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.35/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]

	Concepts:		Concepts:
Line 115:		Line 115:
	PointCloudViewer viewer = VisualizeData.createPointCloudViewer();		PointCloudViewer viewer = VisualizeData.createPointCloudViewer();
	viewer.setFog(true);		viewer.setFog(true);
			viewer.setColorizer(new SingleAxisRgb.Z().fperiod(20)); // makes it easier to see points without RGB color
	viewer.setClipDistance(70); // done for visualization to make it easier to separate objects with the fog		viewer.setClipDistance(70); // done for visualization to make it easier to separate objects with the fog
	viewer.setDotSize(1);		viewer.setDotSize(1);

Peter at 18:31, 7 July 2019

2019-07-07T18:31:10Z

← Older revision		Revision as of 18:31, 7 July 2019
Line 8:		Line 8:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.34/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]

	Concepts:		Concepts:
Line 99:		Line 99:
	Point3D_F64 camera = new Point3D_F64();		Point3D_F64 camera = new Point3D_F64();

	for( int i = 0; i < structure.points.~~length~~; i++ ) {		for( int i = 0; i < structure.points.size; i++ ) {
	// Get 3D location		// Get 3D location
	SceneStructureMetric.Point p = structure.points[i];		SceneStructureMetric.Point p = structure.points.get(i);
	p.get(world);		p.get(world);

Line 107:		Line 107:
	for (int j = 0; j < p.views.size; j++) {		for (int j = 0; j < p.views.size; j++) {
	int viewIdx = p.views.get(j);		int viewIdx = p.views.get(j);
	SePointOps_F64.transform(structure.views[viewIdx].worldToView,world,camera);		SePointOps_F64.transform(structure.views.data[viewIdx].worldToView,world,camera);
	cloudXyz.add( world.copy() );		cloudXyz.add( world.copy() );
	break;		break;

Peter at 14:58, 15 March 2019

2019-03-15T14:58:53Z

← Older revision		Revision as of 14:58, 15 March 2019
Line 8:		Line 8:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.31/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.33/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]

	Concepts:		Concepts:
Line 62:		Line 62:

	// Create and configure the bundle adjustment solver		// Create and configure the bundle adjustment solver
	BundleAdjustment<SceneStructureMetric> bundleAdjustment = FactoryMultiView.~~bundleAdjustmentMetric~~(configSBA);		BundleAdjustment<SceneStructureMetric> bundleAdjustment = FactoryMultiView.bundleSparseMetric(configSBA);
	// prints out useful debugging information that lets you know how well it's converging		// prints out useful debugging information that lets you know how well it's converging
	bundleAdjustment.setVerbose(System.out,0);		bundleAdjustment.setVerbose(System.out,0);
Line 71:		Line 71:
	// Not important for this problem but is for others		// Not important for this problem but is for others
	ScaleSceneStructure bundleScale = new ScaleSceneStructure();		ScaleSceneStructure bundleScale = new ScaleSceneStructure();
	~~bundleScale.applyScale(parser.scene, parser.observations);~~
	bundleScale.applyScale(parser.scene, parser.observations);		bundleScale.applyScale(parser.scene, parser.observations);
	bundleAdjustment.setParameters(parser.scene, parser.observations);		bundleAdjustment.setParameters(parser.scene, parser.observations);

Peter: Created page with " File:Example_bundle_adjustment.png | 3D point refined using sparse bundle adjustment Bundle Adjustment is t..."

2018-10-17T03:25:20Z

Created page with "<center> <gallery widths=500px heights=300px> File:Example_bundle_adjustment.png | 3D point refined using sparse bundle adjustment </gallery> </center> Bundle Adjustment is t..."

New page

<center>
<gallery widths=500px heights=300px>
File:Example_bundle_adjustment.png | 3D point refined using sparse bundle adjustment
</gallery>
</center>

Bundle Adjustment is the typical last step in almost every algorithm which involve reconstruction of a scene from three or more images. Bundle Adjustment is a non-linear batch optimization where feature locations, camera positions, and intrinsic camera parameters are all optimized at once. Sparse Bundle Adjustment (SBA) refers to algorithms which take advantage of the sparsity, speeding up the computation many, many times. In this example, 67,000 parameters are optimized and the reprojection error is reduced by about 7000% in 2 minutes using a single thread.

Example Code:
* [https://github.com/lessthanoptimal/BoofCV/blob/v0.31/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]

Concepts:
* Bundle Adjustment
* Multiple Views
* Scene Reconstruction

= Example Code =

<syntaxhighlight lang="java">
/**
* Demonstration for running sparse bundle adjustment in BoofCV. Bundle adjustment is a problem where a
* a batch optimization is applied to camera pose, camera parameters, and point locations are all optimized.
* It's the last step in scene reconstruction and is a very important step. In recent years, applying bundle
* adjustment to very large scale problems has become important.
*
* In this example, data from the "Bundle Adjustment in the Large" paper is used. These data sets are often used
* to compare different bundle adjustment algorithms against each other. Which is why BoofCV provides a parser
* and camera model for their dataset. The algorithms in BoofCV are in the early stage of development but on more
* modest problems shows performance that's comparable to Ceres Solver. BoofCV has yet to be applied to what would
* be now considered a truly large scale problem that takes day(s) to solve.
*
* @author Peter Abeles
*/
public class ExampleBundleAdjustment {
public static void main(String[] args) throws IOException {

// Because the Bundle Adjustment in the Large data set is popular, a file reader and writer is included
// with BoofCV. BoofCV uses two data types to describe the parameters in a bundle adjustment problem
// BundleAdjustmentSceneStructure is used for camera parameters, camera locations, and 3D points
// BundleAdjustmentObservations for image observations of 3D points
// ExampleMultiViewSceneReconstruction gives a better feel for these data structures or you can look
// at the source code of CodecBundleAdjustmentInTheLarge
CodecBundleAdjustmentInTheLarge parser = new CodecBundleAdjustmentInTheLarge();

parser.parse(new File(UtilIO.pathExample("sfm/problem-16-22106-pre.txt")));

// Print information which gives you an idea of the problem's scale
System.out.println("Optimizing "+parser.scene.getParameterCount()+
" parameters with "+parser.observations.getObservationCount()+" observations\n\n");

// Configure the sparse Levenberg-Marquardt solver
ConfigLevenbergMarquardt configLM = new ConfigLevenbergMarquardt();
// Important tuning parameter. Won't converge to a good solution if picked improperly. Small changes
// to this problem and speed up or slow down convergence and change the final result. This is true for
// basically all solvers.
configLM.dampeningInitial = 1e-3;
// Improves Jacobian matrix's condition. Recommended in general but not important in this problem
configLM.hessianScaling = true;

ConfigBundleAdjustment configSBA = new ConfigBundleAdjustment();
configSBA.configOptimizer = configLM;

// Create and configure the bundle adjustment solver
BundleAdjustment<SceneStructureMetric> bundleAdjustment = FactoryMultiView.bundleAdjustmentMetric(configSBA);
// prints out useful debugging information that lets you know how well it's converging
bundleAdjustment.setVerbose(System.out,0);
// Specifies convergence criteria
bundleAdjustment.configure(1e-6, 1e-6, 50);

// Scaling each variable type so that it takes on a similar numerical value. This aids in optimization
// Not important for this problem but is for others
ScaleSceneStructure bundleScale = new ScaleSceneStructure();
bundleScale.applyScale(parser.scene, parser.observations);
bundleScale.applyScale(parser.scene, parser.observations);
bundleAdjustment.setParameters(parser.scene, parser.observations);

// Runs the solver. This will take a few minutes. 7 iterations takes about 3 minutes on my computer
long startTime = System.currentTimeMillis();
double errorBefore = bundleAdjustment.getFitScore();
if( !bundleAdjustment.optimize(parser.scene) ) {
throw new RuntimeException("Bundle adjustment failed?!?");
}

// Print out how much it improved the model
System.out.println();
System.out.printf("Error reduced by %.1f%%\n",(100.0*(errorBefore/bundleAdjustment.getFitScore()-1.0)));
System.out.println(BoofMiscOps.milliToHuman(System.currentTimeMillis()-startTime));

// Return parameters to their original scaling. Can probably skip this step.
bundleScale.undoScale(parser.scene, parser.observations);

// Visualize the results using a point cloud viewer
visualizeInPointCloud(parser.scene);
}

private static void visualizeInPointCloud(SceneStructureMetric structure ) {

List<Point3D_F64> cloudXyz = new ArrayList<>();
Point3D_F64 world = new Point3D_F64();
Point3D_F64 camera = new Point3D_F64();

for( int i = 0; i < structure.points.length; i++ ) {
// Get 3D location
SceneStructureMetric.Point p = structure.points[i];
p.get(world);

// Project point into an arbitrary view
for (int j = 0; j < p.views.size; j++) {
int viewIdx = p.views.get(j);
SePointOps_F64.transform(structure.views[viewIdx].worldToView,world,camera);
cloudXyz.add( world.copy() );
break;
}
}

PointCloudViewer viewer = VisualizeData.createPointCloudViewer();
viewer.setFog(true);
viewer.setClipDistance(70); // done for visualization to make it easier to separate objects with the fog
viewer.setDotSize(1);
viewer.setTranslationStep(0.05);
viewer.addCloud(cloudXyz);
viewer.setCameraHFov(UtilAngle.radian(60));

// Give it a good initial pose. This was determined through trial and error
Se3_F64 cameraToWorld = new Se3_F64();
cameraToWorld.T.set(-10.848385, -6.957626, 2.9747992);
ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ,-2.734419,-0.27446,-0.24310,cameraToWorld.R);
viewer.setCameraToWorld(cameraToWorld);

SwingUtilities.invokeLater(()->{
viewer.getComponent().setPreferredSize(new Dimension(600,600));
ShowImages.showWindow(viewer.getComponent(), "Refined Scene", true);
});

}
}
</syntaxhighlight>

← Older revision		Revision as of 00:30, 18 January 2022
Line 8:		Line 8:

	Example Code:		Example Code:
	* [https://github.com/lessthanoptimal/BoofCV/blob/v0.38/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]		* [https://github.com/lessthanoptimal/BoofCV/blob/v0.40/examples/src/main/java/boofcv/examples/sfm/ExampleBundleAdjustment.java ExampleBundleAdjustment.java]

	Concepts:		Concepts:
Line 40:		Line 40:
	// ExampleMultiViewSceneReconstruction gives a better feel for these data structures or you can look		// ExampleMultiViewSceneReconstruction gives a better feel for these data structures or you can look
	// at the source code of CodecBundleAdjustmentInTheLarge		// at the source code of CodecBundleAdjustmentInTheLarge
	~~CodecBundleAdjustmentInTheLarge~~ parser = new CodecBundleAdjustmentInTheLarge();		var parser = new CodecBundleAdjustmentInTheLarge();

	parser.parse(new File(UtilIO.pathExample("sfm/problem-16-22106-pre.txt")));		parser.parse(new File(UtilIO.pathExample("sfm/problem-16-22106-pre.txt")));
Line 49:		Line 49:

	// Configure the sparse Levenberg-Marquardt solver		// Configure the sparse Levenberg-Marquardt solver
	~~ConfigLevenbergMarquardt~~ configLM = new ConfigLevenbergMarquardt();		var configLM = new ConfigLevenbergMarquardt();
	// Important tuning parameter. Won't converge to a good solution if picked improperly. Small changes		// Important tuning parameter. Won't converge to a good solution if picked improperly. Small changes
	// to this problem and speed up or slow down convergence and change the final result. This is true for		// to this problem and speed up or slow down convergence and change the final result. This is true for
Line 57:		Line 57:
	configLM.hessianScaling = true;		configLM.hessianScaling = true;

	~~ConfigBundleAdjustment~~ configSBA = new ConfigBundleAdjustment();		var configSBA = new ConfigBundleAdjustment();
	configSBA.configOptimizer = configLM;		configSBA.configOptimizer = configLM;

Line 69:		Line 69:
	// Scaling each variable type so that it takes on a similar numerical value. This aids in optimization		// Scaling each variable type so that it takes on a similar numerical value. This aids in optimization
	// Not important for this problem but is for others		// Not important for this problem but is for others
	~~ScaleSceneStructure~~ bundleScale = new ScaleSceneStructure();		var bundleScale = new ScaleSceneStructure();
	bundleScale.applyScale(parser.scene, parser.observations);		bundleScale.applyScale(parser.scene, parser.observations);
	bundleAdjustment.setParameters(parser.scene, parser.observations);		bundleAdjustment.setParameters(parser.scene, parser.observations);
Line 121:		Line 121:

	// Give it a good initial pose. This was determined through trial and error		// Give it a good initial pose. This was determined through trial and error
	~~Se3_F64~~ cameraToWorld = new Se3_F64();		var cameraToWorld = new Se3_F64();
	cameraToWorld.T.setTo(-10.848385, -6.957626, 2.9747992);		cameraToWorld.T.setTo(-10.848385, -6.957626, 2.9747992);
	ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, -2.734419, -0.27446, -0.24310, cameraToWorld.R);		ConvertRotation3D_F64.eulerToMatrix(EulerType.XYZ, -2.734419, -0.27446, -0.24310, cameraToWorld.R);