basalt/scripts/basalt_convert_kitti_calib.py

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#!/usr/bin/env python3
#
# BSD 3-Clause License
#
# This file is part of the Basalt project.
# https://gitlab.com/VladyslavUsenko/basalt.git
#
# Copyright (c) 2019-2021, Vladyslav Usenko and Nikolaus Demmel.
# All rights reserved.
#
import sys
import math
import numpy as np
import os
from string import Template
import cv2
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import argparse
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parser = argparse.ArgumentParser(description='Convert KITTI calibration to basalt and save it int the dataset folder as basalt_calib.json.')
parser.add_argument('-d', '--dataset-path', required=True, help="Path to the dataset in KITTI format")
args = parser.parse_args()
dataset_path = args.dataset_path
print(dataset_path)
kitti_calib_file = dataset_path + '/calib.txt'
calib_template = Template('''{
"value0": {
"T_imu_cam": [
{
"px": 0.0,
"py": 0.0,
"pz": 0.0,
"qx": 0.0,
"qy": 0.0,
"qz": 0.0,
"qw": 1.0
},
{
"px": $px,
"py": 0.0,
"pz": 0.0,
"qx": 0.0,
"qy": 0.0,
"qz": 0.0,
"qw": 1.0
}
],
"intrinsics": [
{
"camera_type": "pinhole",
"intrinsics": {
"fx": $fx0,
"fy": $fy0,
"cx": $cx0,
"cy": $cy0
}
},
{
"camera_type": "pinhole",
"intrinsics": {
"fx": $fx1,
"fy": $fy1,
"cx": $cx1,
"cy": $cy1
}
}
],
"resolution": [
[
$rx,
$ry
],
[
$rx,
$ry
]
],
"vignette": [],
"calib_accel_bias": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"calib_gyro_bias": [
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0,
0.0
],
"imu_update_rate": 0.0,
"accel_noise_std": [0.0, 0.0, 0.0],
"gyro_noise_std": [0.0, 0.0, 0.0],
"accel_bias_std": [0.0, 0.0, 0.0],
"gyro_bias_std": [0.0, 0.0, 0.0],
"cam_time_offset_ns": 0,
"view_offset": 0
}
}
''')
with open(kitti_calib_file, 'r') as stream:
lines = (' '.join([x.strip('\n ') for x in stream.readlines() if x.strip('\n ') ])).split(' ')
if len(lines) != 52:
print('Issues loading calibration')
print(lines)
P0 = np.array([float(x) for x in lines[1:13]]).reshape(3,4)
P1 = np.array([float(x) for x in lines[14:26]]).reshape(3,4)
print('P0\n', P0)
print('P1\n', P1)
tx = -P1[0,3]/P1[0,0]
img = cv2.imread(dataset_path + '/image_0/000000.png')
rx = img.shape[1]
ry = img.shape[0]
values = {'fx0': P0[0,0], 'fy0': P0[1,1], 'cx0': P0[0,2], 'cy0': P0[1,2], 'fx1': P1[0,0], 'fy1': P1[1,1], 'cx1': P1[0,2], 'cy1': P1[1,2], 'px': tx, 'rx': rx, 'ry': ry}
calib = calib_template.substitute(values)
print(calib)
with open(dataset_path + '/basalt_calib.json', 'w') as stream2:
stream2.write(calib)