Function readColmapCamerasInterp

scene/dataset_readers.py:163–211

(cam_extrinsics, cam_intrinsics, images_folder, model_path)

# For interpolated video, open when only render interpolated video
def readColmapCamerasInterp(cam_extrinsics, cam_intrinsics, images_folder, model_path):
    
    pose_interpolated_path = model_path + 'pose/pose_interpolated.npy'
    pose_interpolated = np.load(pose_interpolated_path)
    intr = cam_intrinsics[1]

    cam_infos = []
    poses=[]
    for idx, pose_npy in enumerate(pose_interpolated):
        sys.stdout.write('\r')
        sys.stdout.write("Reading camera {}/{}".format(idx+1, pose_interpolated.shape[0]))
        sys.stdout.flush()

        extr = pose_npy
        intr = intr
        height = intr.height
        width = intr.width

        uid = idx
        R = extr[:3, :3].transpose()
        T = extr[:3, 3]
        pose =  np.vstack((np.hstack((R, T.reshape(3,-1))),np.array([[0, 0, 0, 1]])))
        # print(uid)
        # print(pose.shape)
        # pose = np.linalg.inv(pose)
        poses.append(pose)
        if intr.model=="SIMPLE_PINHOLE":
            focal_length_x = intr.params[0]
            FovY = focal2fov(focal_length_x, height)
            FovX = focal2fov(focal_length_x, width)
        elif intr.model=="PINHOLE":
            focal_length_x = intr.params[0]
            focal_length_y = intr.params[1]
            FovY = focal2fov(focal_length_y, height)
            FovX = focal2fov(focal_length_x, width)
        else:
            assert False, "Colmap camera model not handled: only undistorted datasets (PINHOLE or SIMPLE_PINHOLE cameras) supported!"

        images_list = os.listdir(os.path.join(images_folder))
        image_name_0 = images_list[0]
        image_name = str(idx).zfill(4)
        image = Image.open(images_folder + '/' + image_name_0)

        cam_info = CameraInfo(uid=uid, R=R, T=T, FovY=FovY, FovX=FovX, image=image,
                              image_path=images_folder, image_name=image_name, width=width, height=height)
        cam_infos.append(cam_info)

    sys.stdout.write('\n')
    return cam_infos, poses


def fetchPly(path):