processing

mono-kitti/kitti2dsoConverter.py

@@ -0,0 +1,47 @@
+import os
+import sys
+import argparse
+from string import Template
+import numpy as np
+import cv2
+
+calib_template = Template('''$fx $fy $cx $cy 0
+$rx $ry
+crop
+600 400
+''') 
+
+if __name__ == "__main__":
+	parser = argparse.ArgumentParser(description='''This script converts the kitti calibration file to dso calibration file. ''')
+	parser.add_argument("--sequence", help="the desired sequence to convert")
+	parser.add_argument("--kitti_folder", help="the mono-kitti folder, without '/' in the end", default="/home/ivan/ivan/git/work_drivecast2/SLAM/datasets/mono-kitti/sequences")
+	
+	args = parser.parse_args()
+	dataset_path = args.kitti_folder + "/" + args.sequence + "/"
+	kitti_calib_file = dataset_path + "calib.txt"
+	print(kitti_calib_file)
+	
+	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 = {'fx': P0[0,0], 'fy': P0[1,1], 'cx': P0[0,2], 'cy': P0[1,2], 'rx': rx, 'ry': ry}
+
+		calib = calib_template.substitute(values)
+		print(calib)
+
+		with open(dataset_path + '/camera.txt', 'w') as stream2:
+			stream2.write(calib)