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b/preprocessing/waymo_prepared/colmap/10448102132863604198_472_000_492_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/10448102132863604198_472_000_492_000/mapping.json b/preprocessing/waymo_prepared/colmap/10448102132863604198_472_000_492_000/mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..beb1a2765ae9bbf2b97223e9cc9ff5a95ea68915 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/10448102132863604198_472_000_492_000/mapping.json @@ -0,0 +1,4600 @@ +{ + "actor_mask": { + "box_scale": 1.0, + "dynamic_value": 0, + "source": "projected_dynamic_actor_cuboids", + "static_value": 255, + "track_count": 14 + }, + "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/10448102132863604198_472_000_492_000/database.db", + "--SiftMatching.use_gpu", + "0" + ], + "feature_extractor": [ + "/usr/bin/colmap", + "feature_extractor", + "--database_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/10448102132863604198_472_000_492_000/database.db", + "--image_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/10448102132863604198_472_000_492_000/images", + "--ImageReader.mask_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/10448102132863604198_472_000_492_000/masks", + "--ImageReader.camera_model", + "PINHOLE", + "--ImageReader.single_camera_per_folder", + "1", + "--SiftExtraction.use_gpu", + "0" + ], + "model_converter": [ + "/usr/bin/colmap", + "model_converter", + "--input_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/10448102132863604198_472_000_492_000/triangulated_model", + "--output_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/10448102132863604198_472_000_492_000/triangulated_text", + "--output_type", + "TXT" + ], + "point_triangulator": [ + "/usr/bin/colmap", + "point_triangulator", + "--database_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/10448102132863604198_472_000_492_000/database.db", + "--image_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/10448102132863604198_472_000_492_000/images", + "--input_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/10448102132863604198_472_000_492_000/known_pose_model", + "--output_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/10448102132863604198_472_000_492_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", + 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+oid sha256:7f33fa0bf3dfae4a2ade8462630c6e43fd31cd4e8e3341917f29a9fddf7508fd +size 18680721 diff --git a/preprocessing/waymo_prepared/colmap/10448102132863604198_472_000_492_000/triangulated_model/points3D.bin b/preprocessing/waymo_prepared/colmap/10448102132863604198_472_000_492_000/triangulated_model/points3D.bin new file mode 100644 index 0000000000000000000000000000000000000000..f8a98a29612e817e7a2e3df04dedb118b7a34bc8 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/10448102132863604198_472_000_492_000/triangulated_model/points3D.bin @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:44413a4849f16ca67f215cd7eda655d5cdf16d4deb32edd1858ba6726c1ea8f8 +size 4627007 diff --git a/preprocessing/waymo_prepared/colmap/10448102132863604198_472_000_492_000/triangulated_text/cameras.txt b/preprocessing/waymo_prepared/colmap/10448102132863604198_472_000_492_000/triangulated_text/cameras.txt new file mode 100644 index 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a/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/database.db b/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/database.db new file mode 100644 index 0000000000000000000000000000000000000000..0b1cb370b468db8adcbad76163eea93ff31974d3 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/database.db @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9707a251e4699d4473adb88a063922fd850b394c630a070dae805c0b9fdcd728 +size 179990528 diff --git a/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/known_pose_model/cameras.txt b/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/known_pose_model/cameras.txt new file mode 100644 index 0000000000000000000000000000000000000000..6dbc0f929b023bfd41008453a2ad43429cfab1d2 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/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 1725.7635677785013 1725.7635677785013 797.03376978232291 537.37603822406641 diff --git a/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/known_pose_model/images.txt b/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/known_pose_model/images.txt new file mode 100644 index 0000000000000000000000000000000000000000..802bdf645b1e3b30319b19da46be44dec58d9b40 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/known_pose_model/images.txt @@ -0,0 +1,300 @@ +# 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: 148, mean observations per 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length: 0 diff --git a/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/mapping.json b/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/mapping.json new file mode 100644 index 0000000000000000000000000000000000000000..1dfee8a448acd9bb471edc9782011a5eb1725b94 --- /dev/null +++ b/preprocessing/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/mapping.json @@ -0,0 +1,12145 @@ +{ + "actor_mask": { + "box_scale": 1.0, + "castrack_path": null, + "dynamic_value": 0, + "source": "projected_dynamic_actor_cuboids", + "static_value": 255, + "track_count": 40, + "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", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/database.db", + "--SiftMatching.use_gpu", + "0" + ], + "feature_extractor": [ + "/usr/bin/colmap", + "feature_extractor", + "--database_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/database.db", + "--image_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/images", + "--ImageReader.mask_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/masks", + "--ImageReader.camera_model", + "PINHOLE", + "--ImageReader.single_camera_per_folder", + "1", + "--SiftExtraction.use_gpu", + "0" + ], + "model_converter": [ + "/usr/bin/colmap", + "model_converter", + "--input_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/triangulated_model", + "--output_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/triangulated_text", + "--output_type", + "TXT" + ], + "point_triangulator": [ + "/usr/bin/colmap", + "point_triangulator", + "--database_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/database.db", + "--image_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/images", + "--input_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/known_pose_model", + "--output_path", + "${ARMGS_ROOT}/data/waymo_prepared/colmap/14940138913070850675_5755_330_5775_330/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": [ + 11655.215501445928, + 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