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Fixed KeyError during export bundler. #161

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Fixed KeyError during export bundler. #161

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33 changes: 17 additions & 16 deletions opensfm/io.py
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Original file line number Diff line number Diff line change
Expand Up @@ -450,22 +450,23 @@ def export_bundler(image_list, reconstructions, track_graph, bundle_file_path,
for point_id, point in points.iteritems():
coord = point.coordinates
color = map(int, point.color)
view_list = track_graph[point_id]
lines.append(' '.join(map(str, coord)))
lines.append(' '.join(map(str, color)))
view_line = []
for shot_key, view in view_list.iteritems():
if shot_key in shots.keys():
v = view['feature']
shot_index = shots_order[shot_key]
camera = shots[shot_key].camera
scale = max(camera.width, camera.height)
x = v[0] * scale
y = -v[1] * scale
view_line.append(' '.join(
map(str, [shot_index, view['feature_id'], x, y])))

lines.append(str(len(view_line)) + ' ' + ' '.join(view_line))
if point_id in track_graph:
view_list = track_graph[point_id]
lines.append(' '.join(map(str, coord)))
lines.append(' '.join(map(str, color)))
view_line = []
for shot_key, view in view_list.iteritems():
if shot_key in shots.keys():
v = view['feature']
shot_index = shots_order[shot_key]
camera = shots[shot_key].camera
scale = max(camera.width, camera.height)
x = v[0] * scale
y = -v[1] * scale
view_line.append(' '.join(
map(str, [shot_index, view['feature_id'], x, y])))

lines.append(str(len(view_line)) + ' ' + ' '.join(view_line))

bundle_file = os.path.join(bundle_file_path,
'bundle_r' + str(j).zfill(3) + '.out')
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