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improve metashape data import (#1605)
* improve metashape data import - support multiple sensors - support fisheye and equirectangular sensors - support multiple components with transforms - fix bug when image name has a '.' in it, excluding the prefix separator * metashape_util: fix string formatting --------- Co-authored-by: Frédéric Devernay <f-dy@users.noreply.github.com> Co-authored-by: Matthew Tancik <tancik@berkeley.edu>
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Frédéric Devernay
GitHub
parent
c0464f8a91
commit
81e39cb276
@ -27,7 +27,7 @@ from nerfstudio.process_data.process_data_utils import CAMERA_MODELS
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CONSOLE = Console(width=120)
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def _find_distortion_param(calib_xml: ET.Element, param_name: str):
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def _find_param(calib_xml: ET.Element, param_name: str):
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param = calib_xml.find(param_name)
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if param is not None:
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return float(param.text) # type: ignore
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@ -62,34 +62,71 @@ def metashape_to_json( # pylint: disable=too-many-statements
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raise ValueError("No sensors found")
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calibrated_sensors = [sensor for sensor in sensors if sensor.find("calibration")]
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if len(calibrated_sensors) != 1:
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raise ValueError("Only one sensor is supported for now")
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sensor = calibrated_sensors[0]
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if not calibrated_sensors:
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raise ValueError("No calibrated sensor found in Metashape XML")
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sensor_type = [s.get("type") for s in calibrated_sensors]
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if sensor_type.count(sensor_type[0]) != len(sensor_type):
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raise ValueError("All Metashape sensors do not have the same sensor type")
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data = {}
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if sensor_type[0] == "frame":
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data["camera_model"] = CAMERA_MODELS["perspective"].value
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elif sensor_type[0] == "fisheye":
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data["camera_model"] = CAMERA_MODELS["fisheye"].value
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elif sensor_type[0] == "spherical":
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data["camera_model"] = CAMERA_MODELS["equirectangular"].value
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else:
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# Cylindrical and RPC sensor types are not supported
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raise ValueError(f"Unsupported Metashape sensor type '{sensor_type[0]}'")
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assert sensor is not None, "Sensor not found in Metashape XML"
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resolution = sensor.find("resolution")
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assert resolution is not None, "Resolution not found in Metashape xml"
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data["w"] = int(resolution.get("width")) # type: ignore
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data["h"] = int(resolution.get("height")) # type: ignore
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sensor_dict = {}
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for sensor in calibrated_sensors:
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s = {}
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resolution = sensor.find("resolution")
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assert resolution is not None, "Resolution not found in Metashape xml"
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s["w"] = int(resolution.get("width")) # type: ignore
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s["h"] = int(resolution.get("height")) # type: ignore
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calib = sensor.find("calibration")
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assert calib is not None, "Calibration not found in Metashape xml"
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data["fl_x"] = float(calib.find("f").text) # type: ignore
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data["fl_y"] = float(calib.find("f").text) # type: ignore
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data["cx"] = float(calib.find("cx").text) + data["w"] / 2.0 # type: ignore
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data["cy"] = float(calib.find("cy").text) + data["h"] / 2.0 # type: ignore
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calib = sensor.find("calibration")
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f = calib.find("f")
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if f is not None:
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s["fl_x"] = s["fl_y"] = float(f.text) # type: ignore
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s["cx"] = _find_param(calib, "cx") + s["w"] / 2.0 # type: ignore
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s["cy"] = _find_param(calib, "cy") + s["h"] / 2.0 # type: ignore
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data["k1"] = _find_distortion_param(calib, "k1")
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data["k2"] = _find_distortion_param(calib, "k2")
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data["k3"] = _find_distortion_param(calib, "k3")
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data["k4"] = _find_distortion_param(calib, "k4")
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data["p1"] = _find_distortion_param(calib, "p1")
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data["p2"] = _find_distortion_param(calib, "p2")
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s["k1"] = _find_param(calib, "k1")
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s["k2"] = _find_param(calib, "k2")
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s["k3"] = _find_param(calib, "k3")
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s["k4"] = _find_param(calib, "k4")
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s["p1"] = _find_param(calib, "p1")
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s["p2"] = _find_param(calib, "p2")
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data["camera_model"] = CAMERA_MODELS["perspective"].value
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sensor_dict[sensor.get("id")] = s
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components = chunk.find("components")
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component_dict = {}
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for component in components:
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transform = component.find("transform")
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if transform is not None:
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rotation = transform.find("rotation")
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if rotation is None:
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r = np.eye(3)
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else:
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r = np.array([float(x) for x in rotation.text.split()]).reshape((3, 3))
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translation = transform.find("translation")
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if translation is None:
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t = np.zeros(3)
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else:
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t = np.array([float(x) for x in translation.text.split()])
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scale = transform.find("scale")
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if scale is None:
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s = 1.0
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else:
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s = float(scale.text)
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m = np.eye(4)
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m[:3, :3] = r
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m[:3, 3] = t / s
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component_dict[component.get("id")] = m
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frames = []
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cameras = chunk.find("cameras")
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@ -97,33 +134,36 @@ def metashape_to_json( # pylint: disable=too-many-statements
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num_skipped = 0
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for camera in cameras:
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frame = {}
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# Labels sometimes have a file extension. We remove it for consistency.
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camera_label = camera.get("label").split(".")[0] # type: ignore
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camera_label = camera.get("label")
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if camera_label not in image_filename_map:
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continue
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# Labels sometimes have a file extension. Try without the extension.
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# (maybe it's just a '.' in the image name)
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camera_label = camera_label.split(".")[0] # type: ignore
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if camera_label not in image_filename_map:
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continue
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frame["file_path"] = image_filename_map[camera_label].as_posix()
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if camera.get("sensor_id") != sensor.get("id"):
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sensor_id = camera.get("sensor_id")
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if sensor_id not in sensor_dict:
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# this should only happen when we have a sensor that doesn't have calibration
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if verbose:
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CONSOLE.print(f"Missing sensor calibration for {camera.get('label')}, Skipping")
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num_skipped += 1
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continue
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# Add all sensor parameters to this frame.
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frame.update(sensor_dict[sensor_id])
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if camera.find("transform") is None:
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if verbose:
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CONSOLE.print(f"Missing transforms data for {camera.get('label')}, Skipping")
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num_skipped += 1
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continue
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t = [float(x) for x in camera.find("transform").text.split()] # type: ignore
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transform = np.array(
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[
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[t[8], -t[9], -t[10], t[11]],
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[t[0], -t[1], -t[2], t[3]],
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[t[4], -t[5], -t[6], t[7]],
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[t[12], -t[13], -t[14], t[15]],
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]
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)
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transform = np.array([float(x) for x in camera.find("transform").text.split()]).reshape((4, 4))
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component_id = camera.get("component_id")
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if component_id in component_dict:
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transform = component_dict[component_id] @ transform
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transform = transform[[2, 0, 1, 3], :]
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transform[:, 1:3] *= -1
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frame["transform_matrix"] = transform.tolist()
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frames.append(frame)
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