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78d2329 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 | import json
import numpy as np
from pathlib import Path
from .read_write_model import Camera, write_cameras_binary
def save_opencv_camera(K: np.ndarray, json_path: str, output_path, image_size: tuple, camera_id=1):
assert K.shape == (3, 3), "Intrinsic matrix K must be 3x3"
# Extract intrinsics from K
fx = K[0, 0]
fy = K[1, 1]
cx = K[0, 2]
cy = K[1, 2]
# Load distortion coefficients from JSON
with open(json_path, 'r') as f:
data = json.load(f)
k1 = data.get("k1", 0.0)
k2 = data.get("k2", 0.0)
p1 = data.get("p1", 0.0)
p2 = data.get("p2", 0.0)
# Image resolution
w, h = image_size
# COLMAP OPENCV model requires 8 parameters
params = (fx, fy, cx, cy, k1, k2, p1, p2)
# Create and write Camera object
camera = Camera(
id=camera_id,
model="OPENCV",
width=w,
height=h,
params=params
)
output_path = Path(output_path)
output_path.mkdir(parents=True, exist_ok=True)
write_cameras_binary({camera_id: camera}, output_path / "cameras.bin")
# Example usage
if __name__ == "__main__":
K = np.array([
[629.23, 0, 480.0],
[0, 625.73, 270.0],
[0, 0, 1.0]
])
save_opencv_camera(
K=K,
json_path="transforms.json",
output_path="output_model",
image_size=(960, 540), # e.g., 4x downsampled from 3840x2160
camera_id=1
)
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