def camera_from_json()

in opensfm/io.py [0:0]

• 114 lines of code
• 11 McCabe index (conditional complexity)

def camera_from_json(key: str, obj: Dict[str, Any]) -> pygeometry.Camera:
    """
    Read camera from a json object
    """
    camera = None
    pt = obj.get("projection_type", "perspective")
    if pt == "perspective":
        camera = pygeometry.Camera.create_perspective(
            obj["focal"], obj.get("k1", 0.0), obj.get("k2", 0.0)
        )
    elif pt == "brown":
        camera = pygeometry.Camera.create_brown(
            obj["focal_x"],
            obj["focal_y"] / obj["focal_x"],
            np.array([obj.get("c_x", 0.0), obj.get("c_y", 0.0)]),
            np.array(
                [
                    obj.get("k1", 0.0),
                    obj.get("k2", 0.0),
                    obj.get("k3", 0.0),
                    obj.get("p1", 0.0),
                    obj.get("p2", 0.0),
                ]
            ),
        )
    elif pt == "fisheye":
        camera = pygeometry.Camera.create_fisheye(
            obj["focal"], obj.get("k1", 0.0), obj.get("k2", 0.0)
        )
    elif pt == "fisheye_opencv":
        camera = pygeometry.Camera.create_fisheye_opencv(
            obj["focal_x"],
            obj["focal_y"] / obj["focal_x"],
            np.array([obj.get("c_x", 0.0), obj.get("c_y", 0.0)]),
            np.array(
                [
                    obj.get("k1", 0.0),
                    obj.get("k2", 0.0),
                    obj.get("k3", 0.0),
                    obj.get("k4", 0.0),
                ]
            ),
        )
    elif pt == "fisheye62":
        camera = pygeometry.Camera.create_fisheye62(
            obj["focal_x"],
            obj["focal_y"] / obj["focal_x"],
            np.array([obj.get("c_x", 0.0), obj.get("c_y", 0.0)]),
            np.array(
                [
                    obj.get("k1", 0.0),
                    obj.get("k2", 0.0),
                    obj.get("k3", 0.0),
                    obj.get("k4", 0.0),
                    obj.get("k5", 0.0),
                    obj.get("k6", 0.0),
                    obj.get("p1", 0.0),
                    obj.get("p2", 0.0),
                ]
            ),
        )
    elif pt == "fisheye624":
        camera = pygeometry.Camera.create_fisheye624(
            obj["focal_x"],
            obj["focal_y"] / obj["focal_x"],
            np.array([obj.get("c_x", 0.0), obj.get("c_y", 0.0)]),
            np.array(
                [
                    obj.get("k1", 0.0),
                    obj.get("k2", 0.0),
                    obj.get("k3", 0.0),
                    obj.get("k4", 0.0),
                    obj.get("k5", 0.0),
                    obj.get("k6", 0.0),
                    obj.get("p1", 0.0),
                    obj.get("p2", 0.0),
                    obj.get("s0", 0.0),
                    obj.get("s1", 0.0),
                    obj.get("s2", 0.0),
                    obj.get("s3", 0.0),
                ]
            ),
        )
    elif pt == "radial":
        camera = pygeometry.Camera.create_radial(
            obj["focal_x"],
            obj["focal_y"] / obj["focal_x"],
            np.array([obj.get("c_x", 0.0), obj.get("c_y", 0.0)]),
            np.array(
                [
                    obj.get("k1", 0.0),
                    obj.get("k2", 0.0),
                ]
            ),
        )
    elif pt == "simple_radial":
        camera = pygeometry.Camera.create_simple_radial(
            obj["focal_x"],
            obj["focal_y"] / obj["focal_x"],
            np.array([obj.get("c_x", 0.0), obj.get("c_y", 0.0)]),
            obj.get("k1", 0.0),
        )
    elif pt == "dual":
        camera = pygeometry.Camera.create_dual(
            obj.get("transition", 0.5),
            obj["focal"],
            obj.get("k1", 0.0),
            obj.get("k2", 0.0),
        )
    elif pygeometry.Camera.is_panorama(pt):
        camera = pygeometry.Camera.create_spherical()
    else:
        raise NotImplementedError
    camera.id = key
    camera.width = int(obj.get("width", 0))
    camera.height = int(obj.get("height", 0))
    return camera