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b/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/triangulated_text/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..6dbc0f929b023bfd41008453a2ad43429cfab1d2 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/triangulated_text/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +1 PINHOLE 1600 1066 1725.7635677785013 1725.7635677785013 797.03376978232291 537.37603822406641 diff --git a/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/triangulated_text/images.txt b/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/triangulated_text/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..5397c3e436ff52f272cf22daafa7c88309624e77 --- /dev/null +++ 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b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/database.db @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e0bad7f92671b1ffca757a37e316ecc3562ace234914f4a81544e833ce368a6f +size 806051840 diff --git a/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/known_pose_model/cameras.txt b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/known_pose_model/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..49f59733774affb27d46603d6604b876e6ad8268 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/known_pose_model/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +1 PINHOLE 1600 1066 1713.5686410075486 1713.5686410075486 782.98165000401355 534.25256704376966 diff --git 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0000000000000000000000000000000000000000..4e0c1e0e5e320a2b4606152cda0d725da04f41bb --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/known_pose_model/points3D.txt @@ -0,0 +1,3 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] +# Number of points: 0, mean track length: 0 diff --git a/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/mapping.json b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..48f5f51f33afeef5221ee8d5136da915a9b8ea08 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/mapping.json @@ -0,0 +1,15581 @@ +{ + "actor_mask": { + "box_scale": 1.0, + "castrack_path": null, + "dynamic_value": 0, + "source": "projected_dynamic_actor_cuboids", + "static_value": 255, + "track_count": 136, + "tracker_source": "waymo_gt" + }, + "cache_dir": "${ARMGS_ROOT}/data/waymo_prepared/cache", + "camera_channels": [ + "FRONT" + ], + "commands": { + "exhaustive_matcher": [ + "/usr/bin/colmap", + "exhaustive_matcher", + "--database_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17159836069183024120_640_000_660_000/database.db", + "--SiftMatching.use_gpu", + "0" + ], + "feature_extractor": [ + "/usr/bin/colmap", + "feature_extractor", + "--database_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17159836069183024120_640_000_660_000/database.db", + "--image_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17159836069183024120_640_000_660_000/images", + "--ImageReader.mask_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17159836069183024120_640_000_660_000/masks", + "--ImageReader.camera_model", + "PINHOLE", + "--ImageReader.single_camera_per_folder", + "1", + "--SiftExtraction.use_gpu", + "0" + ], + "model_converter": [ + "/usr/bin/colmap", + "model_converter", + "--input_path", + 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0000000000000000000000000000000000000000..666978757678a294ed77b86c68605b492c9be5b6 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_model/images.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d0d992ea62374b6af0a69689cc07527da38421f5ac2f40718684a018d46f8ec +size 23827766 diff --git a/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_model/points3D.bin b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_model/points3D.bin new file mode 100644 index 0000000000000000000000000000000000000000..0b89549338c21e0defa08dc13fbd9fedb8a62b76 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_model/points3D.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:dad5e06510315143f9ee4b191c734f2d6dfe3f25c61b8cf7c80c3266f29ac612 +size 2455153 diff --git a/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_text/cameras.txt b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_text/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..49f59733774affb27d46603d6604b876e6ad8268 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_text/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +1 PINHOLE 1600 1066 1713.5686410075486 1713.5686410075486 782.98165000401355 534.25256704376966 diff --git a/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_text/images.txt b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_text/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..283b0db3663a73b14cdc78674e8a9d7055503482 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_text/images.txt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:adc05c17312b0d044a2753bcea3248522cb6335031d49255ae144da02bc07bf3 +size 40227142 diff --git a/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_text/points3D.txt b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_text/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..da1f12189d119d0038b5960342f1267cedc8a090 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17159836069183024120_640_000_660_000/triangulated_text/points3D.txt @@ -0,0 +1,4710 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 4707, mean track 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6153 122 6335 129 5812 138 5850 147 6300 149 6039 99 5648 +25418 -60.463087082476619 -28.71135764120686 16.394184744236416 226 245 253 1.3590612843617107 113 2709 117 2706 118 2662 122 2641 131 2730 110 2782 112 2748 38 3803 40 2586 41 2530 43 2551 44 2555 45 3941 46 2567 47 3889 48 3833 50 2545 52 2603 62 3923 26 3913 37 3927 42 3955 53 3767 56 3804 58 3842 59 3784 40 4745 136 4063 39 3892 111 4117 114 4136 61 3801 113 4885 114 5038 146 2725 36 3947 55 3854 137 2726 diff --git a/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/database.db b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/database.db new file mode 100644 index 0000000000000000000000000000000000000000..270b49a7d646b0f353767c64a415ea1a346121c5 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/database.db @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1d8b32b77d3a1e087bbbf0a4a214b64dc679fd0a24542c8806df89f56c95b8b0 +size 151621632 diff --git a/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/known_pose_model/cameras.txt b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/known_pose_model/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..0341fb80443c0a3be822135414236184900c1b16 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/known_pose_model/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +1 PINHOLE 1600 1066 1716.7854942600779 1716.7854942600779 812.9970880953249 525.71111237040498 diff --git a/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/known_pose_model/images.txt b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/known_pose_model/images.txt new file mode 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a/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/mapping.json b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..09073bd10099938a8fa35eca3280d4d9a6056f42 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/mapping.json @@ -0,0 +1,10704 @@ +{ + "actor_mask": { + "box_scale": 1.0, + "castrack_path": null, + "dynamic_value": 0, + "source": "projected_dynamic_actor_cuboids", + "static_value": 255, + "track_count": 27, + "tracker_source": "waymo_gt" + }, + "cache_dir": "${ARMGS_ROOT}/data/waymo_prepared/cache", + "camera_channels": [ + "FRONT" + ], + "commands": { + "exhaustive_matcher": [ + "/usr/bin/colmap", + "exhaustive_matcher", + "--database_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17364342162691622478_780_000_800_000/database.db", + "--SiftMatching.use_gpu", + "0" + ], + "feature_extractor": [ + "/usr/bin/colmap", + "feature_extractor", + "--database_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17364342162691622478_780_000_800_000/database.db", + "--image_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17364342162691622478_780_000_800_000/images", + "--ImageReader.mask_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17364342162691622478_780_000_800_000/masks", + "--ImageReader.camera_model", + "PINHOLE", + "--ImageReader.single_camera_per_folder", + "1", + "--SiftExtraction.use_gpu", + "0" + ], + "model_converter": [ + "/usr/bin/colmap", + "model_converter", + "--input_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17364342162691622478_780_000_800_000/triangulated_model", + "--output_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17364342162691622478_780_000_800_000/triangulated_text", + "--output_type", + "TXT" + ], + "point_triangulator": [ + "/usr/bin/colmap", + "point_triangulator", + "--database_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17364342162691622478_780_000_800_000/database.db", + "--image_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17364342162691622478_780_000_800_000/images", + "--input_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17364342162691622478_780_000_800_000/known_pose_model", + "--output_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/17364342162691622478_780_000_800_000/triangulated_model", + "--Mapper.ba_refine_focal_length", + "0", + "--Mapper.ba_refine_principal_point", + "0", + "--Mapper.ba_refine_extra_params", + "0", + "--Mapper.fix_existing_images", + "1", + "--Mapper.filter_max_reproj_error", + "4", + "--Mapper.filter_min_tri_angle", + "0.5", + "--Mapper.tri_min_angle", + "0.5", + "--Mapper.tri_ignore_two_view_tracks", + "1" + ] + }, + "coordinate_frame": { + "centered": true, + "centering_method": "full_context_mean_vehicle_translation", + "name": "waymo_world_centered", + "world_center_m": [ + -6251.622229192729, + 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https://git-lfs.github.com/spec/v1 +oid sha256:54520df48e4bcb6d2e9366791f6eae015ecc852a69c1d4c370c543422de28ad3 +size 2293869 diff --git a/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/triangulated_text/cameras.txt b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/triangulated_text/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..0341fb80443c0a3be822135414236184900c1b16 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/triangulated_text/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +1 PINHOLE 1600 1066 1716.7854942600779 1716.7854942600779 812.9970880953249 525.71111237040498 diff --git a/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/triangulated_text/images.txt b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/triangulated_text/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..6ac4eadfc27a73b508b84db2b6f5d77487c692cd --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/triangulated_text/images.txt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32d2014ace4036f09f5c525926c737427ead823d8f53454918fd18b605598846 +size 34223325 diff --git a/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/triangulated_text/points3D.txt b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/triangulated_text/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..43a444ac49a5b5cf140b32dd220fc6425ab5315e --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/17364342162691622478_780_000_800_000/triangulated_text/points3D.txt @@ -0,0 +1,21874 @@ +# 3D point list with one line of 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0000000000000000000000000000000000000000..deb526bc34504d9a55a9615f9aca1f7e7e9e6d54 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/database.db @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c1f787e26195695c16f339068413f1dabd139325e046c98ee3e2c2cc40ba2d92 +size 973574144 diff --git a/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/known_pose_model/cameras.txt b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/known_pose_model/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..d5933daa2cb7eff8eb0ace68b1f43d5f4cd66df2 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/known_pose_model/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +1 PINHOLE 1600 1066 1712.9634578013661 1712.9634578013661 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b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_model/images.bin new file mode 100644 index 0000000000000000000000000000000000000000..5554f4e7e2c31c2f8b4d74c95e0fcca47de206ce --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_model/images.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37115e63914c3393e5d5661be199203798a73510549dd6ef9bb7e5ac39502b41 +size 26290845 diff --git a/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_model/points3D.bin b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_model/points3D.bin new file mode 100644 index 0000000000000000000000000000000000000000..37244af7f89921f389d07ee0fc9f8231e747e0ad --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_model/points3D.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:07ff3cd3a222447fdff06446c9fbd2a1b2a6f287767e9d32b2656edeeee4150a +size 5102271 diff --git a/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_text/cameras.txt b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_text/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..d5933daa2cb7eff8eb0ace68b1f43d5f4cd66df2 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_text/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +1 PINHOLE 1600 1066 1712.9634578013661 1712.9634578013661 783.04789157178902 534.2268184952726 diff --git a/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_text/images.txt b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_text/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..91e30e7dcbda223e2c412dc3e99942f6c0bc9c25 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_text/images.txt @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b8b8c507faede59813d136fe12c6a1908572053e20c3b9cc207ceceb410daaf4 +size 45153336 diff --git a/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_text/points3D.txt b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_text/points3D.txt new file mode 100644 index 0000000000000000000000000000000000000000..6f50cb2a5ee6368fdafdba35847b9ff99c6bab0e --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/204421859195625800_1080_000_1100_000/triangulated_text/points3D.txt @@ -0,0 +1,10664 @@ +# 3D point list with one line of data per point: +# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX) +# Number of points: 10661, mean track length: 53.448925991933216 +20751 8.5185173834129611 42.301292936717907 11.592121448652648 34 33 43 0.53110682724045677 66 289 123 2288 133 283 29 301 131 273 108 317 +20750 -1.4551149947996234 100.242864504366 26.022350260347924 80 82 101 1.3114438944784537 10 312 60 292 97 255 109 296 55 290 12 295 15 299 27 311 6 303 22 296 30 281 52 278 53 280 70 286 75 291 88 292 127 298 +20749 -12.025046619813571 22.120108040712879 7.7527197143773314 37 32 38 0.41535926003061419 94 139 96 2392 119 156 55 283 +20746 -13.888407971192489 26.174131514214306 2.584557022306881 7 9 17 0.10181656093550336 92 7207 94 7481 +20735 -10.453074852316597 22.927617637310142 4.2058497654696643 78 76 83 0.98171887303694705 77 2906 91 3139 122 2926 62 2972 68 2937 23 2954 54 3006 107 2983 79 2952 +20733 -11.538416807329671 19.588028665451684 5.8744134012972422 29 34 50 1.8693791836985922 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b/preprocessing/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/database.db new file mode 100644 index 0000000000000000000000000000000000000000..8c437accb358bea96988320c3b05be7201946a68 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/database.db @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0668dea04a0667f454407aa90fcc8de2b72508519ba17a7a4944b73c14c86d6e +size 43118592 diff --git a/preprocessing/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/known_pose_model/cameras.txt b/preprocessing/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/known_pose_model/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..908e833265de5dc06bc5b8cfe817f6dfc241d178 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/known_pose_model/cameras.txt @@ -0,0 +1,4 @@ +# Camera list with one line of data per camera: +# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[] +# Number of cameras: 1 +1 PINHOLE 1600 1066 1731.1080332118074 1731.1080332118074 786.98129109778051 537.4040479998273 diff --git a/preprocessing/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/known_pose_model/images.txt b/preprocessing/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/known_pose_model/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..51972a8f3a4042179805ab41fad149446eb52be6 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/known_pose_model/images.txt @@ -0,0 +1,302 @@ +# Image list with two lines of data per image: +# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME +# POINTS2D[] as (X, Y, POINT3D_ID) +# Number of images: 149, mean observations per image: 0 +1 0.49086935415154126 0.49437903006971368 0.49657646448208947 -0.51773397290949152 -0.77083774478828349 3.558308492658727 83.039956933841992 1 FRONT/000000.png + +2 0.4912820769330084 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B, ERROR, TRACK[] +# Number of points: 0, mean track length: 0 diff --git a/preprocessing/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/mapping.json b/preprocessing/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..94fcda0f2469d23b8d28a1464f2f177018b30423 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/mapping.json @@ -0,0 +1,11818 @@ +{ + "actor_mask": { + "box_scale": 1.0, + "castrack_path": null, + "dynamic_value": 0, + "source": "projected_dynamic_actor_cuboids", + "static_value": 255, + "track_count": 60, + "tracker_source": "waymo_gt" + }, + "cache_dir": "${ARMGS_ROOT}/data/waymo_prepared/cache", + "camera_channels": [ + "FRONT" + ], + "commands": { + "exhaustive_matcher": [ + "/usr/bin/colmap", + "exhaustive_matcher", + "--database_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/database.db", + "--SiftMatching.use_gpu", + "0" + ], + "feature_extractor": [ + "/usr/bin/colmap", + "feature_extractor", + "--database_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/database.db", + "--image_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/images", + "--ImageReader.mask_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/masks", + "--ImageReader.camera_model", + "PINHOLE", + "--ImageReader.single_camera_per_folder", + "1", + "--SiftExtraction.use_gpu", + "0" + ], + "model_converter": [ + "/usr/bin/colmap", + "model_converter", + "--input_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/triangulated_model", + "--output_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/triangulated_text", + "--output_type", + "TXT" + ], + "point_triangulator": [ + "/usr/bin/colmap", + "point_triangulator", + "--database_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/database.db", + "--image_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/images", + "--input_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/known_pose_model", + "--output_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/3385534893506316900_4252_000_4272_000/triangulated_model", + "--Mapper.ba_refine_focal_length", + "0", + "--Mapper.ba_refine_principal_point", + "0", + "--Mapper.ba_refine_extra_params", + "0", + "--Mapper.fix_existing_images", + "1", + "--Mapper.filter_max_reproj_error", + "4", + "--Mapper.filter_min_tri_angle", + "0.5", + "--Mapper.tri_min_angle", + "0.5", + "--Mapper.tri_ignore_two_view_tracks", + "1" + ] + }, + "coordinate_frame": { + "centered": true, + "centering_method": 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