backfill_az_scenes.py

import json
import os
from utils.camera_utils import load_distortion_static, load_intrinsic_static, write_static_distortion, write_static_intrinsic

camera_name = "az_camera1"

camera_intr = load_intrinsic_static(camera_name)
camera_dist = load_distortion_static(camera_name)

for scene in os.listdir("scenes"):
    scene_dir = os.path.join("scenes", scene)
    if not os.path.isdir(scene_dir):
        continue

    if "official_real_test" not in scene_dir:
        continue

    write_static_intrinsic(camera_name, scene_dir, raw=False)
    write_static_intrinsic(camera_name, scene_dir, raw=True)
    write_static_distortion(camera_name, scene_dir, raw=False)
    write_static_distortion(camera_name, scene_dir, raw=True)

    data = os.path.join(scene_dir, "data")

    for f in os.listdir(data):
        f = os.path.join(data, f)
        if "meta" not in f:
            continue
            
        with open(f, "r") as file:
            meta = json.load(file)

        meta["intrinsic"] = camera_intr.tolist()
        meta["distortion"] = camera_dist.tolist()

        with open(f, "w") as file:
            meta = json.dump(meta, file)


for scene in os.listdir("extrinsics_scenes"):
    scene_dir = os.path.join("scenes", scene)
    if not os.path.isdir(scene_dir):
        continue
    write_static_intrinsic(camera_name, scene_dir, raw=False)
    write_static_intrinsic(camera_name, scene_dir, raw=True)
    write_static_distortion(camera_name, scene_dir, raw=False)
    write_static_distortion(camera_name, scene_dir, raw=True)