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libs/MVS/utils/get_caminfos.py

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+import numpy as np
+import open3d as o3d
+from utils.get_pose_matrix import get_c2w,get_w2c
+
+def get_cam_infos(images: dict, cameras:dict):
+    cam_infos = {}
+    for image_id, image_info in images.items():
+        camera_info = cameras[image_info.camera_id]
+        fx = camera_info.params[0]
+        fy = camera_info.params[1]
+        cx = camera_info.params[2]
+        cy = camera_info.params[3]
+        width = camera_info.width
+        height = camera_info.height
+        name = image_info.name
+        cam_infos[image_id] = {
+            "name": name,
+            "w2c": get_w2c(image_info.qvec, image_info.tvec),
+            "c2w": get_c2w(image_info.qvec, image_info.tvec),
+            "width": camera_info.width,
+            "height": camera_info.height,
+            "intrinsics": o3d.camera.PinholeCameraIntrinsic(
+                width, 
+                height,
+                fx=fx,
+                fy=fy,
+                cx=cx,
+                cy=cy
+            ),
+            "K": np.array([
+                [fx, 0, cx],
+                [0, fy, cy],
+                [0, 0, 1]
+            ])
+        }
+    return cam_infos