(dataset_path)
| 8 | # TODO: don't know intrinsics |
| 9 | |
| 10 | def load_BAL_gt(dataset_path): |
| 11 | results = {} |
| 12 | # load all image names in 'image' folder |
| 13 | gtR_PATH = dataset_path + "/gtR.bin" |
| 14 | gtT_PATH = dataset_path + "/gtt.bin" |
| 15 | # load gt |
| 16 | gtR, _ = load_matrix_from_bin(gtR_PATH) |
| 17 | gtT, _ = load_matrix_from_bin(gtT_PATH) |
| 18 | N = gtT.shape[1] |
| 19 | for i in range(N): |
| 20 | # transform to world-2-camera |
| 21 | R = gtR[:,3*i:3*(i+1)] |
| 22 | t = gtT[:,i] |
| 23 | results[i] = { |
| 24 | "R": R, |
| 25 | "t": t, |
| 26 | "camera_id": 1 |
| 27 | } |
| 28 | return results |
| 29 | |
| 30 | def load_replica_camera(dataset_path): |
| 31 | results = {} |
no test coverage detected