kapture: file format for SfM
Project description
image::assets/kapture_logo.svg["KAPTURE", width=64px]
= kapture: data format :sectnums: :sectnumlevels: 1 :toc: :toclevels: 2
== Overview
Kapture is a pivot file format, based on text and binary files, used to describe SfM (Structure From Motion) and more generally sensor-acquired data.
It can be used to store sensor parameters and raw sensor data:
- cameras
- images
- lidar and other sensor data
As well as computed data:
- 2d features
- 3d reconstruction
== Specifications The format specification is detailed in the link:kapture_format.adoc[kapture format specifications document].
== Example File Structure
This is an example file structure of a dataset in the kapture format.
[source,txt]
my_dataset # Dataset root path ├─ sensors/ # Sensor data root path │ ├─ sensors.txt # list of all sensors with their specifications (e.g. camera intrinsics) │ ├─ rigs.txt # geometric relationship between sensors (optional) │ ├─ trajectories.txt # extrinsics (timestamp, sensor, pose) │ ├─ records_camera.txt # all records of type 'camera' (timestamp, sensor and path to image) │ ├─ records_SENSOR_TYPE.txt # all records of type SENSOR_TYPE (other sensors, eg: 'magnetic', 'pressure'...) │ └─ records_data/ # image and lidar data path │ ├─ map/cam_01/00001.jpg # image path used in records_camera.txt (example) │ ├─ map/cam_01/00002.jpg │ ├─ map/lidar_01/0001.pcd # lidar data path used in records_lidar.txt │ ├─ query/query001.jpg # image path used in records_camera.txt │ ├─ ... ├─ reconstruction/ │ ├─ keypoints/ # 2D keypoints files │ │ ├─ keypoints.txt # type of keypoint │ │ ├─ map/cam_01/00001.jpg.kpt # keypoints for corresponding image (example) │ │ ├─ query/query001.jpg.kpt # keypoints for corresponding image (example) │ │ ├─ ... │ ├─ descriptors/ # keypoint descriptors files │ │ ├─ descriptors.txt # type of descriptor │ │ ├─ map/cam_01/00001.jpg.desc # descriptors for corresponding image (example) │ │ ├─ query/query001.jpg.desc # descriptors for corresponding image (example) │ │ ├─ ... │ ├─ ... │ ├─ points3d.txt # 3D points of the reconstruction │ ├─ observations.txt # 2D/3D points corespondences │ ├─ matches/ # matches files. │ │ ├─ map/cam_01/00001.jpg.overlapping/cam_01/00002.jpg.matches # example │ │ ├─ ...
== Software
The kapture format is provided with a Python library, as well as several conversion tools.
=== Install
[source,bash] pip install kapture
or see link:doc/installation.adoc[installation] for more detailed instructions.
=== Using docker
Build the docker image:
[source,bash]
build the docker image
docker build . -t kapture
run unit tests
docker run -it --rm kapture python3 -m unittest discover -s /opt/source/kapture/tests
If you want to process your own data, you can bind directories between the host and the container using
--volume
or --mount
option (See the https://docs.docker.com/storage/bind-mounts/[docker documentation]).
The following example mounts /path/to/dataset/
from the host to /dataset
inside the docker.
[source,bash]
docker run -it
--rm \ # Automatically remove the container when it exits
--volume /path/to/dataset/:/dataset:ro \ #read only
kapture
=== kapture library
=== kapture tools
In this repository, you will find a set of conversion tools to or from kapture format.
Import results to kapture format, and conversely, export converts kapture data to other formats.
Depending of the format, some data might not be converted, either because the other format does not support it (—
)
or because its was not implemented (⨉
). Here is a table summarizing the conversion capabilities:
.conversion capabilities |=== | Format | <- -> | cam | rig | img | trj | gps | kpt | dsc | gft | p3D | obs | mch
.2+| colmap | import | ✓ | ✓ | ✓ | ✓ | ⨉ | ✓ | ✓ | — | ✓ | ✓ | (✓) | export | ✓ | ✓ | ✓ | ✓ | ⨉ | ✓ | ✓ | — | ✓ | ✓ | (✓) .2+| openmvg | import | ✓ | — | ✓ | ✓ | ⨉ | — | — | — | — | — | — | export | ✓ | — | ✓ | ✓ | ⨉ | — | — | — | — | — | — .2+| OpenSfM | import | ✓ | ⨉ | ✓ | ✓ | ✓ | ✓ | ✓ | — | ✓ | ⨉ | ✓ | export | ✓ | ⨉ | ✓ | ✓ | ⨉ | ✓ | — | ✓ | — | ⨉ | ✓ | bundler | import | ✓ | — | ✓ | ✓ | — | ✓ | — | — | ✓ | ✓ | — | image_folder | import | — | — | ✓ | — | — | — | — | — | — | — | — | image_list | import | ✓ | — | ✓ | — | — | — | — | — | — | — | — | nvm | import | ✓ | — | ✓ | ✓ | — | ✓ | — | — | ✓ | ✓ | — | IDL_dataset_cvpr17 | import | ✓ | — | ✓ | ✓ | — | — | — | — | — | — | — | RobotCar_Seasons | import | ✓ | ✓ | ✓ | ✓ | — | ✓ | ? | — | ✓ | ✓ | ? | ROSbag cameras+trajectory | import | (✓) | (✓) | ✓ | ✓ | ⨉ | — | — | — | — | — | — | SILDa | import | ✓ | ✓ | ✓ | ✓ | — | — | — | — | — | — | — | virtual_gallery | import | ✓ | ✓ | ✓ | ✓ | — | — | — | — | — | — | — |===
:Notes:
✓
: supported,(✓)
partially supported,⨉
: not implemented,—
: not supported by format.cam
: handle camera parameters, eg. intrisicsrig
: handle rig structure.img
: handle the path to images.trj
: handle trajectories, eg. poses.kpt
: handle image keypoints locations.dsc
: handle image keypoints descriptors.gft
: handle global image feature descriptors.p3D
: handle 3D point clouds.obs
: handle observations, ie. 3D-points / 2D keypoints correspondences.mch
: handle keypoints matches.
== Tutorial
See the link:doc/tutorial.adoc[kapture tutorial] for a short introduction to:
- conversion tools
- using kapture in your code
- dataset download
- localization pipelines
== Contributing If you wish to contribute, please refer to the link:CONTRIBUTING.adoc[CONTRIBUTING] page.
== License Software license is detailed in the link:LICENSE[LICENSE] file.
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