124 lines
3.3 KiB
Python
124 lines
3.3 KiB
Python
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from glob import glob
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import re
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import argparse
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import numpy as np
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from pathlib import Path
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import os
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def raw_camparam_from_xml(path, pose="lookAt"):
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import xml.etree.ElementTree as ET
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tree = ET.parse(path)
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elm = tree.find("./sensor/transform/" + pose)
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camparam = elm.attrib
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origin = np.fromstring(camparam['origin'], dtype=np.float32, sep=',')
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target = np.fromstring(camparam['target'], dtype=np.float32, sep=',')
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up = np.fromstring(camparam['up'], dtype=np.float32, sep=',')
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height = int(
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tree.find("./sensor/film/integer[@name='height']").attrib['value'])
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width = int(
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tree.find("./sensor/film/integer[@name='width']").attrib['value'])
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camparam = dict()
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camparam['origin'] = origin
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camparam['up'] = up
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camparam['target'] = target
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camparam['height'] = height
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camparam['width'] = width
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return camparam
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def get_cam_pos(origin, target, up):
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inward = origin - target
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right = np.cross(up, inward)
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up = np.cross(inward, right)
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rx = np.cross(up, inward)
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ry = np.array(up)
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rz = np.array(inward)
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rx /= np.linalg.norm(rx)
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ry /= np.linalg.norm(ry)
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rz /= np.linalg.norm(rz)
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rot = np.stack([
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rx,
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ry,
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-rz
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], axis=0)
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aff = np.concatenate([
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np.eye(3), -origin[:,None]
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], axis=1)
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ext = np.matmul(rot, aff)
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result = np.concatenate(
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[ext, np.array([[0,0,0,1]])], axis=0
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)
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return result
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def convert_cam_params_all_views(datapoint_dir, dataroot, camera_param_dir):
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depths = sorted(glob(os.path.join(datapoint_dir, '*depth.png')))
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cam_ext = ['_'.join(re.sub(dataroot.strip('/'), camera_param_dir.strip('/'), f).split('_')[:-1])+'.xml' for f in depths]
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for i, (f, pth) in enumerate(zip(cam_ext, depths)):
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if not os.path.exists(f):
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continue
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params=raw_camparam_from_xml(f)
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origin, target, up, width, height = params['origin'], params['target'], params['up'],\
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params['width'], params['height']
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ext_matrix = get_cam_pos(origin, target, up)
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#####
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diag = (0.036 ** 2 + 0.024 ** 2) ** 0.5
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focal_length = 0.05
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res = [480, 480]
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h_relative = (res[1] / res[0])
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sensor_width = np.sqrt(diag ** 2 / (1 + h_relative ** 2))
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pix_size = sensor_width / res[0]
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K = np.array([
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[focal_length / pix_size, 0, (sensor_width / pix_size - 1) / 2],
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[0, -focal_length / pix_size, (sensor_width * (res[1] / res[0]) / pix_size - 1) / 2],
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[0, 0, 1]
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])
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np.savez(pth.split('depth.png')[0]+ 'cam_params.npz', extr=ext_matrix, intr=K)
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def main(opt):
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dataroot_dir = Path(opt.dataroot)
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leaf_subdirs = []
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for dirpath, dirnames, filenames in os.walk(dataroot_dir):
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if (not dirnames) and opt.mitsuba_xml_root not in dirpath:
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leaf_subdirs.append(dirpath)
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for k, dir_ in enumerate(leaf_subdirs):
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print('Processing dir {}/{}: {}'.format(k, len(leaf_subdirs), dir_))
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convert_cam_params_all_views(dir_, opt.dataroot, opt.mitsuba_xml_root)
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if __name__ == '__main__':
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args = argparse.ArgumentParser()
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args.add_argument('--dataroot', type=str, default='GenReData/')
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args.add_argument('--mitsuba_xml_root', type=str, default='GenReData/genre-xml_v2')
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opt = args.parse_args()
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main(opt)
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