auto-iter 20260513-2231: GX019817 RoPE skip, 4 PLY done ready for stage06

scripts/poses_to_csv.py

@@ -0,0 +1,61 @@
+#!/usr/bin/env python3
+"""Extract camera positions (timestamp, x, y, z) from lingbot-map NPZ poses.
+Usage: poses_to_csv.py <input.npz> [--start_iso 2026-05-05T08:34:01] [--fps 1.0] > output.csv
+"""
+import argparse, sys
+import numpy as np
+from datetime import datetime, timezone
+
+def main():
+    ap = argparse.ArgumentParser()
+    ap.add_argument('npz')
+    ap.add_argument('--start_iso', default=None, help='ISO timestamp of frame 0 (e.g. 2026-05-05T08:34:01)')
+    ap.add_argument('--fps', type=float, default=1.0, help='frames per second (default 1.0)')
+    ap.add_argument('--label', default='', help='segment label for CSV col')
+    args = ap.parse_args()
+    
+    data = np.load(args.npz, allow_pickle=True)
+    keys = list(data.keys())
+    # auto-detect poses key
+    poses = None
+    for k in ['poses', 'extrinsics', 'cam_poses', 'c2w']:
+        if k in keys:
+            poses = data[k]; break
+    if poses is None:
+        # take first 3D array
+        for k in keys:
+            arr = data[k]
+            if arr.ndim == 3 and arr.shape[-2:] in [(3,4),(4,4)]:
+                poses = arr; break
+    if poses is None:
+        sys.exit(f'No poses found in {args.npz} (keys: {keys})')
+    
+    # start timestamp
+    if args.start_iso:
+        try:
+            t0 = datetime.fromisoformat(args.start_iso).replace(tzinfo=timezone.utc).timestamp()
+        except Exception:
+            t0 = 0.0
+    elif 'start_ns' in keys:
+        t0 = float(data['start_ns']) / 1e9
+    else:
+        t0 = 0.0
+    
+    fps = float(args.fps)
+    if 'fps' in keys:
+        try: fps = float(data['fps'])
+        except: pass
+    
+    print('segment,frame_idx,timestamp_s,x,y,z')
+    for i, P in enumerate(poses):
+        if P.shape == (4,4):
+            P = P[:3]
+        R, t = P[:, :3], P[:, 3]
+        # extrinsic = world→cam ; cam position world = -R^T t
+        # but lingbot might save c2w directly; check determinant heuristic
+        pos = -R.T @ t  # if extrinsic
+        ts = t0 + i / fps
+        print(f'{args.label},{i},{ts:.6f},{pos[0]:.6f},{pos[1]:.6f},{pos[2]:.6f}')
+
+if __name__ == '__main__':
+    main()