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