Metadata-Version: 2.1
Name: kapture
Version: 1.0.3
Summary: kapture: file format for SfM
Home-page: https://github.com/naver/kapture/
Author: naverlabs
Author-email: kapture@naverlabs.com
License: UNKNOWN
Platform: UNKNOWN
Classifier: Programming Language :: Python :: 3
Classifier: License :: OSI Approved :: BSD License
Classifier: Operating System :: OS Independent
Requires-Python: >=3.6
Description-Content-Type: text/markdown
Requires-Dist: numpy
Requires-Dist: numpy-quaternion
Requires-Dist: numba
Requires-Dist: matplotlib
Requires-Dist: scipy
Requires-Dist: tqdm
Requires-Dist: Pillow (==7.2.0)
Requires-Dist: piexif (==1.1.3)
Requires-Dist: requests
Requires-Dist: pyyaml
Requires-Dist: wcmatch
Requires-Dist: torch (==1.4.0)
Provides-Extra: dev
Requires-Dist: pytest ; extra == 'dev'

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. intrisics
 - `rig`: 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.



