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import sys
sys.path.append("..")
import numpy as np
import os
from pycolmap import SceneManager
#-------------------------------------------------------------------------------
# Saves the cameras as a mesh
#
# inputs:
# - ply_file: output file
# - images: ordered array of pycolmap Image objects
# - color: color string for the camera
# - scale: amount to shrink/grow the camera model
def save_camera_ply(ply_file, images, scale):
points3D = scale * np.array((
(0., 0., 0.),
(-1., -1., 1.),
(-1., 1., 1.),
(1., -1., 1.),
(1., 1., 1.)))
faces = np.array(((0, 2, 1),
(0, 4, 2),
(0, 3, 4),
(0, 1, 3),
(1, 2, 4),
(1, 4, 3)))
r = np.linspace(0, 255, len(images), dtype=np.uint8)
g = 255 - r
b = r - np.linspace(0, 128, len(images), dtype=np.uint8)
color = np.column_stack((r, g, b))
with open(ply_file, "w") as fid:
print>>fid, "ply"
print>>fid, "format ascii 1.0"
print>>fid, "element vertex", len(points3D) * len(images)
print>>fid, "property float x"
print>>fid, "property float y"
print>>fid, "property float z"
print>>fid, "property uchar red"
print>>fid, "property uchar green"
print>>fid, "property uchar blue"
print>>fid, "element face", len(faces) * len(images)
print>>fid, "property list uchar int vertex_index"
print>>fid, "end_header"
for image, c in zip(images, color):
for p3D in (points3D.dot(image.R()) + image.C()):
print>>fid, p3D[0], p3D[1], p3D[2], c[0], c[1], c[2]
for i in xrange(len(images)):
for f in (faces + len(points3D) * i):
print>>fid, "3 {} {} {}".format(*f)
#-------------------------------------------------------------------------------
def main(args):
scene_manager = SceneManager(args.input_folder)
scene_manager.load_images()
images = sorted(scene_manager.images.itervalues(),
key=lambda image: image.name)
save_camera_ply(args.output_file, images, args.scale)
#-------------------------------------------------------------------------------
if __name__ == "__main__":
import argparse
parser = argparse.ArgumentParser(
description="Saves camera positions to a PLY for easy viewing outside "
"of COLMAP. Currently, camera FoV is not reflected in the output.",
formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument("input_folder")
parser.add_argument("output_file")
parser.add_argument("--scale", type=float, default=1.,
help="Scaling factor for the camera mesh.")
args = parser.parse_args()
main(args)
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