Function load_camera_data

utils/readgt_colmap.py:15–50

(file_path)

    return R

def load_camera_data(file_path):
    with open(file_path, 'r') as file:
        lines = file.readlines()
    
    data = []
    for line in lines:
        if line.startswith("#") or not line.strip():
            continue  
        parts = line.strip().split()

        camera_id = int(parts[0])  # CAMERA_ID
        model = parts[1]  # MODEL
        width = int(parts[2])  # WIDTH
        height = int(parts[3])  # HEIGHT
        params = list(map(float, parts[4:]))  # PARAMS start from fifth
        K = np.eye(3)
        if model == "SIMPLE_PINHOLE":
            # params = [f, cx, cy]
            K[0, 0] = params[0]  # f
            K[1, 1] = params[0]  # f
            K[0, 2] = params[1]  # cx
            K[1, 2] = params[2]  # cy
        elif model == "PINHOLE":
            # params = [fx, fy, cx, cy]
            K[0, 0] = params[0]  # fx
            K[1, 1] = params[1]  # fy
            K[0, 2] = params[2]  # cx
            K[1, 2] = params[3]  # cy
        else:
            raise ValueError(f"Unsupported camera model: {model}")
        data.append((camera_id, K, width, height))
    
    camera_df = pd.DataFrame(data, columns=['CAMERA_ID', 'K', 'width', 'height'])
    camera_df.set_index('CAMERA_ID', inplace=True) 
    
    return camera_df

def load_colmap_camera(gt_path):
    camera_path = gt_path + "/sparse/cameras.txt"