diff --git a/kapture/converter/colmap/import_colmap_database.py b/kapture/converter/colmap/import_colmap_database.py index 5c8de46..fc603ee 100644 --- a/kapture/converter/colmap/import_colmap_database.py +++ b/kapture/converter/colmap/import_colmap_database.py @@ -295,7 +295,7 @@ def get_matches_from_database(database: COLMAPDatabase, # actually write the file # convert colmap image matches into kapture (cast to float and add a score column) - image_matches = image_matches.astype(np.float) + image_matches = image_matches.astype(float) image_matches = np.hstack([image_matches, np.zeros((image_matches.shape[0], 1))]) image_matches_filepath = kapture.io.features.get_matches_fullpath((filename1, filename2), keypoints_type, diff --git a/kapture/converter/openmvg/import_openmvg.py b/kapture/converter/openmvg/import_openmvg.py index 874a6e3..72e651e 100644 --- a/kapture/converter/openmvg/import_openmvg.py +++ b/kapture/converter/openmvg/import_openmvg.py @@ -525,7 +525,7 @@ def _import_openmvg_matches( swap_order = image_2 < image_1 line = fid.readline() num_matches = int(line.rstrip('\r\n')) - matches_array = np.empty((num_matches, 3), dtype=np.float) + matches_array = np.empty((num_matches, 3), dtype=float) for i in range(num_matches): line = fid.readline() splits_kpts_idx = line.rstrip('\r\n').split() diff --git a/kapture/converter/opensfm/export_opensfm.py b/kapture/converter/opensfm/export_opensfm.py index 503f6bb..1d44392 100644 --- a/kapture/converter/opensfm/export_opensfm.py +++ b/kapture/converter/opensfm/export_opensfm.py @@ -276,7 +276,7 @@ def _export_opensfm_features_and_matches(image_filenames, kapture_dirpath=kapture_root_dir, tar_handler=tar_handlers) kapture_matches = image_matches_from_file(kapture_matches_filepath) - opensfm_matches[image_filename2] = kapture_matches[:, 0:2].astype(np.int) + opensfm_matches[image_filename2] = kapture_matches[:, 0:2].astype(int) os.makedirs(path.dirname(opensfm_matches_filepath), exist_ok=True) with gzip.open(opensfm_matches_filepath, 'wb') as f: diff --git a/kapture/io/csv.py b/kapture/io/csv.py index 070780d..e9a7197 100644 --- a/kapture/io/csv.py +++ b/kapture/io/csv.py @@ -23,7 +23,6 @@ logger = kapture.logger -np.float = float # monkey patch # file names conventions CSV_FILENAMES = { @@ -1265,7 +1264,7 @@ def points3d_from_file(filepath: str) -> kapture.Points3d: else: expected_nb_columns = kapture.Points3d.XYZ_ONLY # Load - data = np.loadtxt(filepath, dtype=np.float, delimiter=',', comments='#') + data = np.loadtxt(filepath, dtype=float, delimiter=',', comments='#') if len(data) > 0: if len(data.shape) == 1: found_nb_columns = data.shape[0] diff --git a/kapture/io/ply.py b/kapture/io/ply.py index 2dbfe2e..a8d27e6 100644 --- a/kapture/io/ply.py +++ b/kapture/io/ply.py @@ -56,7 +56,7 @@ def get_axis_in_world( [length, 0, 0], # X [0, length, 0], # Y [0, 0, length], # Z - ], dtype=np.float) + ], dtype=float) return pose_device_from_world.inverse().transform_points(sensor_axis) diff --git a/tools/kapture_import_4seasons.py b/tools/kapture_import_4seasons.py index c75e959..5ce64fa 100755 --- a/tools/kapture_import_4seasons.py +++ b/tools/kapture_import_4seasons.py @@ -448,7 +448,7 @@ def import_4seasons_imu( # Each line is specified as frame_id, (angular velocity (w_x, w_y, w_z), and linear acceleration (a_x, a_y, a_z)). # 1602074877342319360 -0.009163 0.018326 -0.070250 0.189211 0.860048 9.657110 data = np.loadtxt(imu_file_path) - shot_ids = data[:, 0].astype(np.int).astype(str) + shot_ids = data[:, 0].astype(int).astype(str) rotation_speeds = data[:, 1:4] translation_accels = data[:, 4:7] for shot_id, (rx, ry, rz), (ax, ay, az) in zip(shot_ids, rotation_speeds, translation_accels): diff --git a/tools/kapture_import_Extended_CMU_Seasons.py b/tools/kapture_import_Extended_CMU_Seasons.py index 28990ed..3c936ca 100755 --- a/tools/kapture_import_Extended_CMU_Seasons.py +++ b/tools/kapture_import_Extended_CMU_Seasons.py @@ -163,7 +163,7 @@ def import_extended_cmu_seasons_images(image_list_file_path: str) -> Tuple[kaptu rotation = quaternion.from_float_array(quaternion_array) # C = -R^T * t -> t = -R * C translation = np.matmul(quaternion.as_rotation_matrix(rotation), - -1 * np.array(center_array, dtype=np.float)) + -1 * np.array(center_array, dtype=float)) pose = kapture.PoseTransform(r=rotation, t=translation) trajectories[(timestamp, camera_id)] = pose diff --git a/tools/kapture_import_image_list_with_poses.py b/tools/kapture_import_image_list_with_poses.py index 3c62873..9d6f125 100755 --- a/tools/kapture_import_image_list_with_poses.py +++ b/tools/kapture_import_image_list_with_poses.py @@ -120,7 +120,7 @@ def import_image_list_with_poses(images_list_file_path: str, if qw != '' and qx != '' and qy != '' and qz != '': rotation = quaternion.from_float_array([float(qw), float(qx), float(qy), float(qz)]) if tx != '' and ty != '' and tz != '': - translation = np.array([[float(tx)], [float(ty)], [float(tz)]], dtype=np.float) + translation = np.array([[float(tx)], [float(ty)], [float(tz)]], dtype=float) pose = kapture.PoseTransform(rotation, translation) trajectories[(int(timestamp), camera_id)] = pose diff --git a/tools/kapture_import_silda.py b/tools/kapture_import_silda.py index d773cb4..efe0907 100755 --- a/tools/kapture_import_silda.py +++ b/tools/kapture_import_silda.py @@ -89,7 +89,7 @@ def _import_trajectories(silda_dir_path, image_name_to_ids, hide_progress_bars) lines = file.readlines() lines = (line.rstrip().split() for line in lines) extrinsics = { - line[0]: np.array(line[1:8], dtype=np.float) for line in lines + line[0]: np.array(line[1:8], dtype=float) for line in lines } for silda_image_name, pose_params in tqdm(extrinsics.items(), disable=hide_progress_bars): # Silda poses are 7-dim vectors with the rotation quaternion,