COLMAP parser.
| 27 | |
| 28 | |
| 29 | class Parser: |
| 30 | """COLMAP parser.""" |
| 31 | |
| 32 | def __init__( |
| 33 | self, |
| 34 | data_dir: str, |
| 35 | factor: int = 1, |
| 36 | normalize: bool = False, |
| 37 | test_every: int = 8, |
| 38 | mask_dir: Optional[str] = None |
| 39 | ): |
| 40 | self.data_dir = data_dir |
| 41 | self.factor = factor |
| 42 | self.normalize = normalize |
| 43 | self.test_every = test_every |
| 44 | self.mask_dir = mask_dir # only used when object-centric content in MPEG GSC |
| 45 | |
| 46 | colmap_dir = os.path.join(data_dir, "sparse/0/") |
| 47 | if not os.path.exists(colmap_dir): |
| 48 | colmap_dir = os.path.join(data_dir, "sparse") |
| 49 | assert os.path.exists( |
| 50 | colmap_dir |
| 51 | ), f"COLMAP directory {colmap_dir} does not exist." |
| 52 | |
| 53 | manager = SceneManager(colmap_dir) |
| 54 | manager.load_cameras() |
| 55 | manager.load_images() |
| 56 | manager.load_points3D() |
| 57 | |
| 58 | # Extract extrinsic matrices in world-to-camera format. |
| 59 | imdata = manager.images |
| 60 | w2c_mats = [] |
| 61 | camera_ids = [] |
| 62 | Ks_dict = dict() |
| 63 | params_dict = dict() |
| 64 | imsize_dict = dict() # width, height |
| 65 | mask_dict = dict() |
| 66 | bottom = np.array([0, 0, 0, 1]).reshape(1, 4) |
| 67 | for k in imdata: |
| 68 | im = imdata[k] |
| 69 | rot = im.R() |
| 70 | trans = im.tvec.reshape(3, 1) |
| 71 | w2c = np.concatenate([np.concatenate([rot, trans], 1), bottom], axis=0) |
| 72 | w2c_mats.append(w2c) |
| 73 | |
| 74 | # support different camera intrinsics |
| 75 | camera_id = im.camera_id |
| 76 | camera_ids.append(camera_id) |
| 77 | |
| 78 | # camera intrinsics |
| 79 | cam = manager.cameras[camera_id] |
| 80 | fx, fy, cx, cy = cam.fx, cam.fy, cam.cx, cam.cy |
| 81 | K = np.array([[fx, 0, cx], [0, fy, cy], [0, 0, 1]]) |
| 82 | K[:2, :] /= factor |
| 83 | Ks_dict[camera_id] = K |
| 84 | |
| 85 | # Get distortion parameters. |
| 86 | type_ = cam.camera_type |
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