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| # | |
| # Copyright (C) 2023, Inria | |
| # GRAPHDECO research group, https://team.inria.fr/graphdeco | |
| # All rights reserved. | |
| # | |
| # This software is free for non-commercial, research and evaluation use | |
| # under the terms of the LICENSE.md file. | |
| # | |
| # For inquiries contact george.drettakis@inria.fr | |
| # | |
| from scene.cameras import Camera | |
| import numpy as np | |
| from utils.general_utils import PILtoTorch | |
| from utils.graphics_utils import fov2focal | |
| WARNED = False | |
| def loadCam(args, id, cam_info, resolution_scale): | |
| # resized_image_rgb = PILtoTorch(cam_info.image, resolution) | |
| # gt_image = resized_image_rgb[:3, ...] | |
| # loaded_mask = None | |
| # if resized_image_rgb.shape[1] == 4: | |
| # loaded_mask = resized_image_rgb[3:4, ...] | |
| return Camera(colmap_id=cam_info.uid, R=cam_info.R, T=cam_info.T, | |
| FoVx=cam_info.FovX, FoVy=cam_info.FovY, | |
| image=cam_info.image, gt_alpha_mask=None, | |
| image_name=cam_info.image_name, uid=id, data_device=args.data_device, | |
| time = cam_info.time, | |
| ) | |
| def cameraList_from_camInfos(cam_infos, resolution_scale, args): | |
| camera_list = [] | |
| for id, c in enumerate(cam_infos): | |
| camera_list.append(loadCam(args, id, c, resolution_scale)) | |
| return camera_list | |
| def camera_to_JSON(id, camera : Camera): | |
| Rt = np.zeros((4, 4)) | |
| Rt[:3, :3] = camera.R.transpose() | |
| Rt[:3, 3] = camera.T | |
| Rt[3, 3] = 1.0 | |
| W2C = np.linalg.inv(Rt) | |
| pos = W2C[:3, 3] | |
| rot = W2C[:3, :3] | |
| serializable_array_2d = [x.tolist() for x in rot] | |
| camera_entry = { | |
| 'id' : id, | |
| 'img_name' : camera.image_name, | |
| 'width' : camera.width, | |
| 'height' : camera.height, | |
| 'position': pos.tolist(), | |
| 'rotation': serializable_array_2d, | |
| 'fy' : fov2focal(camera.FovY, camera.height), | |
| 'fx' : fov2focal(camera.FovX, camera.width) | |
| } | |
| return camera_entry | |