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Running on Zero
Running on Zero
| #!/usr/bin/env python3 | |
| """Convert existing calibration to prior_camera.json, or validate it before inference.""" | |
| import argparse | |
| from pathlib import Path | |
| import sys | |
| # Allow direct invocation from any working directory without installing the repository. | |
| sys.path.insert(0, str(Path(__file__).resolve().parents[1])) | |
| from src.utils.camera_conversion import cameras_from_arrays, cameras_from_colmap | |
| from src.utils.camera_io import ( | |
| list_image_files, load_cameras_json, validate_cameras_for_images, write_cameras_json, | |
| ) | |
| def main(argv=None): | |
| parser = argparse.ArgumentParser(description=__doc__) | |
| commands = parser.add_subparsers(dest='command', required=True) | |
| colmap = commands.add_parser('colmap', help='Convert an undistorted COLMAP text or binary model.') | |
| colmap.add_argument('--model', required=True, help='Sparse model folder containing cameras/images files.') | |
| colmap.add_argument('--model_format', choices=['auto', 'bin', 'txt'], default='auto') | |
| arrays = commands.add_parser('arrays', help='Convert calibrated pose/K .npy arrays with an explicit image order.') | |
| arrays.add_argument('--poses', required=True, help='Numeric [N,4,4] or [N,3,4] .npy file.') | |
| arrays.add_argument('--intrinsics', required=True, help='Pixel K: [3,3] shared, or [N,3,3] .npy file.') | |
| arrays.add_argument('--image_names', required=True, help='UTF-8 text: one image filename per pose row.') | |
| arrays.add_argument('--pose_convention', choices=['c2w', 'w2c'], required=True) | |
| arrays.add_argument('--camera_axes', choices=['opencv', 'opengl'], required=True) | |
| arrays.add_argument('--intrinsics_pixel_center', choices=['opencv', 'colmap'], default='opencv', | |
| help='OpenCV: first pixel center is (0,0); COLMAP: (0.5,0.5).') | |
| check = commands.add_parser('check', help='Validate an existing JSON and its image coverage.') | |
| check.add_argument('--cameras', required=True) | |
| for command in (colmap, arrays, check): | |
| command.add_argument('--images', required=True, help='Flat folder of original-resolution pinhole images.') | |
| for command in (colmap, arrays): | |
| command.add_argument('--output', help='Default: prior_camera.json beside the images directory.') | |
| command.add_argument('--overwrite', action='store_true', help='Replace an existing output JSON.') | |
| args = parser.parse_args(argv) | |
| try: | |
| images = list_image_files(args.images) | |
| if args.command == 'check': | |
| poses, intrinsics = load_cameras_json(args.cameras) | |
| validate_cameras_for_images(images, poses, intrinsics) | |
| print(f'Valid: {len(images)} images have OpenCV c2w poses and pixel intrinsics.') | |
| print('Pose accuracy and the declared coordinate convention require your calibration records.') | |
| return | |
| if args.command == 'colmap': | |
| poses, intrinsics = cameras_from_colmap(images, args.model, args.model_format) | |
| else: | |
| poses, intrinsics = cameras_from_arrays( | |
| images, args.poses, args.intrinsics, args.image_names, | |
| args.pose_convention, args.camera_axes, args.intrinsics_pixel_center) | |
| output = Path(args.output) if args.output else Path(args.images).resolve().parent / 'prior_camera.json' | |
| write_cameras_json(output, images, poses, intrinsics, overwrite=args.overwrite) | |
| print(f'Saved {len(images)} cameras to {output}') | |
| print('Output: OpenCV camera-to-world matrices; original-image pixel intrinsics.') | |
| print('Next: run the pose inference script with the same --images folder as its input directory.') | |
| except (ValueError, OSError) as exc: | |
| parser.error(str(exc)) | |
| if __name__ == '__main__': | |
| main() | |