def add_cameras_to_database(sensors: kapture.Sensors,
database: COLMAPDatabase) -> Dict[str, int]:
"""
Add the kapture cameras to the colmap database.
:param sensors: list af kapture cameras
:param database: colmap database.
:return: dictionary of kapture camera identifier -> colmap camera identifier
"""
assert isinstance(sensors, kapture.Sensors)
colmap_camera_ids = {}
cameras = {
cam_id: camera
for cam_id, camera in sensors.items()
if isinstance(camera, kapture.Camera)
}
for cam_id, cam in cameras.items():
col_cam_id, width, height, params, prior_focal_length = get_colmap_camera(
cam)
colmap_camera_ids[cam_id] = database.add_camera(
col_cam_id,
width,
height,
params,
prior_focal_length=prior_focal_length)
database.commit()
return colmap_camera_ids
def export_to_colmap_cameras_txt(colmap_cameras_filepath: str,
sensors: kapture.Sensors,
colmap_camera_ids: Dict[str, int]) -> None:
"""
Exports to colmap reconstruction file "cameras.txt".
:param colmap_cameras_filepath: path to colmap file "cameras.txt" to be writen.
:param sensors: sensors to be exported
:param colmap_camera_ids: gives the correspondences between kapture camera id and colmap camera id
"""
assert path.basename(colmap_cameras_filepath) == 'cameras.txt'
assert isinstance(colmap_camera_ids, dict)
assert isinstance(sensors, kapture.Sensors)
cameras = {
cam_id: cam
for cam_id, cam in sensors.items() if isinstance(cam, kapture.Camera)
}
# cameras.txt
cameras_colmap_header = '# Sensor list with one line of data per camera:\n' \
'# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]\n' \
'# NB cameras : {}\n'.format(len(cameras))
converted_cameras = [(cam_id, get_colmap_camera(cam))
for cam_id, cam in cameras.items()]
with open(colmap_cameras_filepath, 'w') as fid:
fid.write(cameras_colmap_header)
lines = (' '.join(
[str(colmap_camera_ids[cam_id]), CAMERA_MODEL_NAMES[col_cam_id]] +
[str(int(width)), str(int(height))] +
[str(int(v)) if v.is_integer() else str(v) for v in params])
for cam_id, (col_cam_id, width, height, params,
prior_focal_length) in converted_cameras
if cam_id in colmap_camera_ids)
fid.write('\n'.join(lines))
def get_sensors_mapping(sensors: kapture.Sensors,
offset: int = 0) -> Dict[str, str]:
"""
Creates list of sensor names,identifiers
:param sensors: list of sensor definitions
:param offset: optional offset for the identifier numbers
:return: mapping of sensor names to identifiers
"""
return {
k: f'sensor{v}'
for k, v in zip(sensors.keys(), range(offset, offset + len(sensors)))
}
def sensors_to_file(filepath: str, sensors: kapture.Sensors) -> None:
"""
Writes the sensors to CSV file.
:param filepath: input file path
:param sensors: input sensors
"""
assert (isinstance(sensors, kapture.Sensors))
header = '# sensor_id, name, sensor_type, [sensor_params]+'
table = ([sensor_id] + sensor_to_list(sensor)
for sensor_id, sensor in sensors.items())
os.makedirs(path.dirname(filepath), exist_ok=True)
with open(filepath, 'w') as file:
table_to_file(file, table, header=header)