Taken from https://github.com/colmap/colmap/blob/dev/scripts/python/read_write_model.py
(path)
| 230 | |
| 231 | |
| 232 | def read_extrinsics_text(path): |
| 233 | """ |
| 234 | Taken from https://github.com/colmap/colmap/blob/dev/scripts/python/read_write_model.py |
| 235 | """ |
| 236 | images = {} |
| 237 | with open(path, "r") as fid: |
| 238 | while True: |
| 239 | line = fid.readline() |
| 240 | if not line: |
| 241 | break |
| 242 | line = line.strip() |
| 243 | if len(line) > 0 and line[0] != "#": |
| 244 | elems = line.split() |
| 245 | image_id = int(elems[0]) |
| 246 | qvec = np.array(tuple(map(float, elems[1:5]))) |
| 247 | tvec = np.array(tuple(map(float, elems[5:8]))) |
| 248 | camera_id = int(elems[8]) |
| 249 | image_name = elems[9] |
| 250 | elems = fid.readline().split() |
| 251 | xys = np.column_stack([tuple(map(float, elems[0::3])), |
| 252 | tuple(map(float, elems[1::3]))]) |
| 253 | point3D_ids = np.array(tuple(map(int, elems[2::3]))) |
| 254 | images[image_id] = Image( |
| 255 | id=image_id, qvec=qvec, tvec=tvec, |
| 256 | camera_id=camera_id, name=image_name, |
| 257 | xys=xys, point3D_ids=point3D_ids) |
| 258 | return images |
| 259 | |
| 260 | |
| 261 | def read_colmap_bin_array(path): |
no test coverage detected