{ "cells": [ { "cell_type": "code", "execution_count": 39, "metadata": {}, "outputs": [], "source": [ "import numpy as np\n", "import json" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Load Pix4D camera" ] }, { "cell_type": "code", "execution_count": 40, "metadata": {}, "outputs": [], "source": [ "def parse_camera_file(txt_path, applied_matrix):\n", " with open(txt_path, 'r') as file:\n", " lines = file.readlines()\n", " \n", " data = {}\n", " idx = 0\n", " while idx < len(lines):\n", " if lines[idx].startswith('frame_'):\n", " parts = lines[idx].split()\n", " file_name = parts[0]\n", " image_width = int(parts[1])\n", " image_height = int(parts[2])\n", " \n", " # Skip intrinsic matrix (3 lines) and distortions (2 lines)\n", " idx += 1 # Skip the frame line\n", " K = [list(map(float, lines[idx].split())) for _ in range(3)]\n", " idx += 3 # Skip the intrinsic matrix\n", " radial_distortion = list(map(float, lines[idx].split()))\n", " idx += 1\n", " tangential_distortion = list(map(float, lines[idx].split()))\n", " idx += 1\n", " \n", " # Read translation vector t\n", " t = np.array(list(map(float, lines[idx].split())))\n", " idx += 1\n", "\n", " # Read rotation matrix R\n", " R = []\n", " for _ in range(3):\n", " R.append(list(map(float, lines[idx].split())))\n", " idx += 1\n", " R = np.array(R)\n", "\n", " # Construct the 4x4 transformation matrix\n", " transform_matrix = np.eye(4)\n", " transform_matrix[:3, :3] = R.T\n", "\n", " transform_matrix[0, 0] *= -1\n", " transform_matrix[1, 0] *= -1\n", " transform_matrix[2, 1] *= -1\n", " transform_matrix[2, 2] *= -1\n", " # transform_matrix[:3, 3] = t\n", "\n", " transform_matrix[0, 3] = float(-t[0])\n", " transform_matrix[1, 3] = float(-t[1])\n", " transform_matrix[2, 3] = float(t[2])\n", "\n", " \n", " applied_full_transform = applied_matrix @ transform_matrix\n", " data[file_name] = applied_full_transform\n", "\n", " else:\n", " idx += 1\n", "\n", " return data" ] }, { "cell_type": "code", "execution_count": 41, "metadata": {}, "outputs": [], "source": [ "txt_path = './coord_sync_site1_short_drone/pix4d_transform.txt'\n", "\n", "# applied_matrix = np.array([[-0.96418796, -0.25371189, 0.07727781, 0.41912473],\n", "# [-0.09476959, 0.05744261, -0.99384057, -0.04494898],\n", "# [ 0.24771013, -0.96557269, -0.07942964, 0.39511684],\n", "# [ 0. , 0. , 0. , 1. ]])\n", "\n", "\n", "applied_matrix = np.array([[1, 0, 0, 0],\n", " [0, 1, 0, 0],\n", " [ 0, 0, 1, 0],\n", " [ 0. , 0. , 0. , 1. ]])\n", "\n", "# Parse the file\n", "camera_data = parse_camera_file(txt_path, applied_matrix)" ] }, { "cell_type": "code", "execution_count": 42, "metadata": {}, "outputs": [], "source": [ "\n", "\n", "frame_list = []\n", "count = 1\n", "\n", "for key, value in camera_data.items():\n", " temp_dic={}\n", " temp_dic[\"file_path\"] = './images/'+key\n", "\n", " temp_dic[\"transform_matrix\"] = list(list(row) for row in value)\n", " temp_dic[\"colmap_im_id\"] = count\n", "\n", " count+=1\n", " frame_list.append(temp_dic)" ] }, { "cell_type": "markdown", "metadata": {}, "source": [ "## Write transform.json" ] }, { "cell_type": "code", "execution_count": 34, "metadata": {}, "outputs": [], "source": [ "intrinsic_param={\"fl_x\": 3610.96227107531967703835,\n", " \"fl_y\": 3610.96227107531967703835,\n", " \"k1\": 0.83573827671019018659,\n", " \"k2\": -8.43164691306825275774,\n", " \"p1\": 0.00088966837485448527,\n", " \"p2\": -0.00415826706043668885,\n", " \"cx\": 946.40291252075269312627,\n", " \"cy\": 548.70902452014547634462,\n", " \"w\": 1920,\n", " \"h\": 1080}" ] }, { "cell_type": "code", "execution_count": 35, "metadata": {}, "outputs": [], "source": [ "# Load the existing template.json\n", "with open('template.json', 'r') as file:\n", " data = json.load(file)" ] }, { "cell_type": "code", "execution_count": 36, "metadata": {}, "outputs": [], "source": [ "for key,value in intrinsic_param.items():\n", " data[str(key)] = value\n", "\n", "data[\"frames\"] = frame_list\n" ] }, { "cell_type": "code", "execution_count": 37, "metadata": {}, "outputs": [ { "data": { "text/plain": [ "{'fl_x': 1392.4742595658188,\n", " 'fl_y': 1392.4742595658188,\n", " 'k1': 0.08053151258751537,\n", " 'k2': -0.10925241102568467,\n", " 'p1': 0.0008896683748544853,\n", " 'p2': -0.004158267060436689,\n", " 'cx': 946.4029125207527,\n", " 'cy': 548.7090245201455,\n", " 'w': 1920,\n", " 'h': 1080,\n", " 'camera_model': 'OPENCV',\n", " 'frames': [{'file_path': './images/frame_0208.jpg',\n", " 'transform_matrix': [[0.6199227129392674,\n", " -0.5703449101537481,\n", " 0.5388900754734044,\n", " 66.55946326487097],\n", " [0.7846484037553407,\n", " 0.4547637940010013,\n", " -0.4213273954420844,\n", " -68.93854386245518],\n", " [-0.004765759773042994,\n", " 0.6840296595378944,\n", " 0.7294386282657767,\n", " -2.2523321968255225],\n", " [0.0, 0.0, 0.0, 1.0]],\n", " 'colmap_im_id': 1},\n", " {'file_path': './images/frame_0209.jpg',\n", " 'transform_matrix': 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1.0]],\n", " 'colmap_im_id': 596},\n", " {'file_path': './images/frame_0807.jpg',\n", " 'transform_matrix': [[0.9039928083622609,\n", " -0.32402767484718564,\n", " 0.2789320138715509,\n", " 22.463155618021645],\n", " [0.4275458401630716,\n", " 0.6870146355902352,\n", " -0.5875503766010789,\n", " -78.96205314366482],\n", " [-0.0012477934787781535,\n", " 0.6503975372170031,\n", " 0.7595929742918185,\n", " -0.7995775141309484],\n", " [0.0, 0.0, 0.0, 1.0]],\n", " 'colmap_im_id': 597}],\n", " 'applied_transform': [[0.0, 1.0, 0.0, 0.0],\n", " [1.0, 0.0, 0.0, 0.0],\n", " [-0.0, -0.0, -1.0, -0.0]]}" ] }, "execution_count": 37, "metadata": {}, "output_type": "execute_result" } ], "source": [ "data" ] }, { "cell_type": "code", "execution_count": 38, "metadata": {}, "outputs": [], "source": [ "# Save the updated data back to template.json\n", "with open('transforms_pix4d.json', 'w') as file:\n", " json.dump(data, file, indent=4)" ] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] }, { "cell_type": "code", "execution_count": null, "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "nerfstudio2", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.19" } }, "nbformat": 4, "nbformat_minor": 2 }