def undistort_reconstruction(
tracks_manager: Optional[pymap.TracksManager],
reconstruction: types.Reconstruction,
data: DataSetBase,
udata: UndistortedDataSet,
) -> Dict[pymap.Shot, List[pymap.Shot]]:
all_images = set(data.images())
image_format = data.config["undistorted_image_format"]
urec = types.Reconstruction()
urec.points = reconstruction.points
urec.reference = reconstruction.reference
rig_instance_count = itertools.count()
utracks_manager = pymap.TracksManager()
logger.debug("Undistorting the reconstruction")
undistorted_shots = {}
for shot in reconstruction.shots.values():
if shot.id not in all_images:
logger.warning(
f"Not undistorting {shot.id} as it is missing from the dataset's input images."
)
continue
if shot.camera.projection_type == "perspective":
urec.add_camera(perspective_camera_from_perspective(shot.camera))
subshots = [get_shot_with_different_camera(urec, shot, image_format)]
elif shot.camera.projection_type == "brown":
urec.add_camera(perspective_camera_from_brown(shot.camera))
subshots = [get_shot_with_different_camera(urec, shot, image_format)]
elif shot.camera.projection_type in ["fisheye", "fisheye_opencv"]:
urec.add_camera(perspective_camera_from_fisheye(shot.camera))
subshots = [get_shot_with_different_camera(urec, shot, image_format)]
elif pygeometry.Camera.is_panorama(shot.camera.projection_type):
subshot_width = int(data.config["depthmap_resolution"])
subshots = perspective_views_of_a_panorama(
shot, subshot_width, urec, image_format, rig_instance_count
)
else:
logger.warning(
f"Not undistorting {shot.id} with unknown camera type."
)
continue
for subshot in subshots:
if tracks_manager:
add_subshot_tracks(tracks_manager, utracks_manager, shot, subshot)
undistorted_shots[shot.id] = subshots
udata.save_undistorted_reconstruction([urec])
if tracks_manager:
udata.save_undistorted_tracks_manager(utracks_manager)
udata.save_undistorted_shot_ids(
{
shot_id: [ushot.id for ushot in ushots]
for shot_id, ushots in undistorted_shots.items()
}
)
return undistorted_shots
def undistort_reconstruction(
tracks_manager, reconstruction, data: DataSetBase, udata: UndistortedDataSet
):
image_format = data.config["undistorted_image_format"]
urec = types.Reconstruction()
urec.points = reconstruction.points
urec.reference = reconstruction.reference
rig_instance_count = itertools.count()
utracks_manager = pymap.TracksManager()
logger.debug("Undistorting the reconstruction")
undistorted_shots = {}
for shot in reconstruction.shots.values():
if shot.camera.projection_type == "perspective":
camera = perspective_camera_from_perspective(shot.camera)
urec.add_camera(camera)
subshots = [
get_shot_with_different_camera(urec, shot, camera, image_format)
]
elif shot.camera.projection_type == "brown":
camera = perspective_camera_from_brown(shot.camera)
urec.add_camera(camera)
subshots = [
get_shot_with_different_camera(urec, shot, camera, image_format)
]
elif shot.camera.projection_type in ["fisheye", "fisheye_opencv"]:
camera = perspective_camera_from_fisheye(shot.camera)
urec.add_camera(camera)
subshots = [
get_shot_with_different_camera(urec, shot, camera, image_format)
]
elif pygeometry.Camera.is_panorama(shot.camera.projection_type):
subshot_width = int(data.config["depthmap_resolution"])
subshots = perspective_views_of_a_panorama(
shot, subshot_width, urec, image_format, rig_instance_count
)
for subshot in subshots:
if tracks_manager:
add_subshot_tracks(tracks_manager, utracks_manager, shot, subshot)
# pyre-fixme[61]: `subshots` may not be initialized here.
undistorted_shots[shot.id] = subshots
udata.save_undistorted_reconstruction([urec])
if tracks_manager:
udata.save_undistorted_tracks_manager(utracks_manager)
udata.save_undistorted_shot_ids(
{
shot_id: [ushot.id for ushot in ushots]
for shot_id, ushots in undistorted_shots.items()
}
)
return undistorted_shots
