{

ALICEVISION_LOG_INFO("reading intrinsics: " << fname);

std::vector<double> v(8);

std::ifstream ifs(fname);

if (!(ifs >> v[0] >> v[1] >> v[2] >> v[3] >> v[4] >> v[5] >> v[6] >> v[7]))

throw std::runtime_error("failed to read intrinsics file");

return v;

{

std::string verboseLevel = system::EVerboseLevel_enumToString(system::Logger::getDefaultVerboseLevel());

std::string exportFile;

std::string importFile;

std::string rigFile;

std::string calibFile;

std::vector<aliceVision::geometry::Pose3> extrinsics; // the rig subposes

// clang-format off

po::options_description requiredParams("Required parameters");

requiredParams.add_options()

("input,i", po::value<std::string>(&importFile)->required(),

"The input file containing cameras.")

("output,o", po::value<std::string>(&exportFile)->required(),

"Filename for the SfMData export file (where camera poses will be stored).\n"

"Alembic file only.")

("calibrationFile,c", po::value<std::string>(&calibFile)->required(),

"A calibration file for the target camera.")

("rigFile,e", po::value<std::string>(&rigFile)->required(),

"Rig calibration file that will be applied to input.");

// clang-format on

CmdLine cmdline("This program is used to deduce the pose of the not localized cameras of the RIG.\n"

"Use if you have localized a single camera from an acquisition with a RIG of cameras.\n"

"AliceVision rigTransform");

cmdline.add(requiredParams);

if (!cmdline.execute(argc, argv))

{

return EXIT_FAILURE;

}

// load rig calibration file

if (!rig::loadRigCalibration(rigFile, extrinsics))

{

ALICEVISION_LOG_ERROR("Unable to open " << rigFile);

return EXIT_FAILURE;

}

assert(!extrinsics.empty());

// import sfm data

sfmData::SfMData sfmData;

if (!sfmDataIO::load(sfmData, importFile, sfmDataIO::ESfMData::ALL))

{

ALICEVISION_LOG_ERROR("The input SfMData file '" << importFile << "' cannot be read");

return EXIT_FAILURE;

}

// load intrinsics

auto v = ReadIntrinsicsFile(calibFile);

camera::Pinhole intrinsics = camera::Pinhole(v[0], v[1], v[2], v[2], v[3], v[4], std::make_shared<camera::DistortionRadialK3>(v[5], v[6], v[7]));

// export to abc

sfmDataIO::AlembicExporter exporter(exportFile);

exporter.initAnimatedCamera("camera");

std::size_t idx = 0;

for (const auto& [_, pose] : sfmData.getPoses().valueRange())

{

const geometry::Pose3 rigPose = extrinsics[0].inverse() * pose.getTransform();

exporter.addCameraKeyframe(rigPose, &intrinsics, "", idx, idx);

++idx;

}

exporter.addLandmarks(sfmData.getLandmarks());

return EXIT_SUCCESS;