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import numpy as np
import os
import json
# 定义反向的 tf_mat2extr 函数 (C2W -> W2C)
def tf_mat2extr(tf_mat):
"""
Convert a camera-to-world (C2W) transformation matrix back to
a world-to-camera (W2C) extrinsic matrix.
"""
tf_mat_inv = np.linalg.inv(tf_mat)
trans_mat = np.eye(4)
trans_mat[1, 1] = -1
trans_mat[2, 2] = -1
tf_mat_inv = trans_mat @ tf_mat_inv
extr = np.stack([tf_mat_inv[0, :], tf_mat_inv[1, :], tf_mat_inv[2, :]], axis=0)
return extr[:, :4]
root = '/data1/hezijian/save_render_data_yw/all/' # revise your path here
for sub_folder in os.listdir(root):
# sub_folder = '0000'
sub_folder_json_path = os.path.join(root, sub_folder, 'transforms.json')
params_path = os.path.join(root,sub_folder,'parm')
info = json.load(open(sub_folder_json_path))
frames = info['frames']
if not os.path.exists(params_path):
os.makedirs(params_path)
for frame in frames:
transform_matrix = frame['transform_matrix']
flx = frame['fl_x']
fly = frame['fl_y']
cx = frame['cx']
cy = frame['cy']
file_name = frame['file_path'].split('/')[1].split('.')[0]
transform_matrix = np.array(transform_matrix)
extrinsic_matrix = tf_mat2extr(transform_matrix)
intrinsic_matrix = np.array([[flx, 0, cx],[0,fly,cy],[0,0,1]])
np.save(os.path.join(params_path,'%s_extrinsic.npy'%file_name),extrinsic_matrix)
np.save(os.path.join(params_path,'%s_intrinsic.npy'%file_name),intrinsic_matrix)
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