Function load_colmap_gt

utils/readgt_colmap.py:115–143

(gt_path)

    

def load_colmap_gt(gt_path):
    camera_path = gt_path + "/sparse/cameras.txt"
    camera_df = load_camera_data(camera_path)

    image_path = gt_path + "/sparse/images.txt"
    image_df = load_image_data(image_path)

    results = {}
    for name, row in image_df.iterrows():
        pose = row['POSE']        
        camera_id = row['CAMERA_ID'] 

        R = quat2rot(pose['qw'], pose['qx'], pose['qy'], pose['qz'])
        t = np.array([pose['tx'], pose['ty'], pose['tz']])  

        if camera_id in camera_df.index:
            K = camera_df.loc[camera_id, 'K']
        else:
            K = None  

        results[name] = {
            "id": camera_id,
            "K": K,
            "R": R,
            "t": t,
            "camera_id": camera_id
        }

    return results