440 lines
19 KiB
Python
440 lines
19 KiB
Python
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# Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
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# its contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
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import os
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import sys
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import collections
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import numpy as np
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import struct
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import cv2
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CameraModel = collections.namedtuple(
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"CameraModel", ["model_id", "model_name", "num_params"])
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Camera = collections.namedtuple(
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"Camera", ["id", "model", "width", "height", "params"])
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BaseImage = collections.namedtuple(
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"Image", ["id", "qvec", "tvec", "camera_id", "name", "xys", "point3D_ids"])
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Point3D = collections.namedtuple(
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"Point3D", ["id", "xyz", "rgb", "error", "image_ids", "point2D_idxs"])
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class Image(BaseImage):
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def qvec2rotmat(self):
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return qvec2rotmat(self.qvec)
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CAMERA_MODELS = {
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CameraModel(model_id=0, model_name="SIMPLE_PINHOLE", num_params=3),
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CameraModel(model_id=1, model_name="PINHOLE", num_params=4),
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CameraModel(model_id=2, model_name="SIMPLE_RADIAL", num_params=4),
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CameraModel(model_id=3, model_name="RADIAL", num_params=5),
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CameraModel(model_id=4, model_name="OPENCV", num_params=8),
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CameraModel(model_id=5, model_name="OPENCV_FISHEYE", num_params=8),
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CameraModel(model_id=6, model_name="FULL_OPENCV", num_params=12),
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CameraModel(model_id=7, model_name="FOV", num_params=5),
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CameraModel(model_id=8, model_name="SIMPLE_RADIAL_FISHEYE", num_params=4),
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CameraModel(model_id=9, model_name="RADIAL_FISHEYE", num_params=5),
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CameraModel(model_id=10, model_name="THIN_PRISM_FISHEYE", num_params=12)
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}
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CAMERA_MODEL_IDS = dict([(camera_model.model_id, camera_model) \
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for camera_model in CAMERA_MODELS])
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CAMERA_MODEL_NAMES = dict([(camera_model.model_name, camera_model)
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for camera_model in CAMERA_MODELS])
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def read_next_bytes(fid, num_bytes, format_char_sequence, endian_character="<"):
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"""Read and unpack the next bytes from a binary file.
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:param fid:
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:param num_bytes: Sum of combination of {2, 4, 8}, e.g. 2, 6, 16, 30, etc.
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:param format_char_sequence: List of {c, e, f, d, h, H, i, I, l, L, q, Q}.
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:param endian_character: Any of {@, =, <, >, !}
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:return: Tuple of read and unpacked values.
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"""
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data = fid.read(num_bytes)
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return struct.unpack(endian_character + format_char_sequence, data)
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def read_cameras_text(path):
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"""
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see: src/base/reconstruction.cc
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void Reconstruction::WriteCamerasText(const std::string& path)
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void Reconstruction::ReadCamerasText(const std::string& path)
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"""
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cameras = {}
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with open(path, "r") as fid:
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while True:
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line = fid.readline()
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if not line:
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break
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line = line.strip()
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if len(line) > 0 and line[0] != "#":
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elems = line.split()
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camera_id = int(elems[0])
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model = elems[1]
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width = int(elems[2])
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height = int(elems[3])
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params = np.array(tuple(map(float, elems[4:])))
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cameras[camera_id] = Camera(id=camera_id, model=model,
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width=width, height=height,
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params=params)
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return cameras
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def read_cameras_binary(path_to_model_file):
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"""
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see: src/base/reconstruction.cc
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void Reconstruction::WriteCamerasBinary(const std::string& path)
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void Reconstruction::ReadCamerasBinary(const std::string& path)
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"""
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cameras = {}
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with open(path_to_model_file, "rb") as fid:
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num_cameras = read_next_bytes(fid, 8, "Q")[0]
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for camera_line_index in range(num_cameras):
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camera_properties = read_next_bytes(
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fid, num_bytes=24, format_char_sequence="iiQQ")
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camera_id = camera_properties[0]
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model_id = camera_properties[1]
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model_name = CAMERA_MODEL_IDS[camera_properties[1]].model_name
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width = camera_properties[2]
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height = camera_properties[3]
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num_params = CAMERA_MODEL_IDS[model_id].num_params
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params = read_next_bytes(fid, num_bytes=8*num_params,
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format_char_sequence="d"*num_params)
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cameras[camera_id] = Camera(id=camera_id,
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model=model_name,
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width=width,
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height=height,
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params=np.array(params))
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assert len(cameras) == num_cameras
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return cameras
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def read_images_text(path):
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"""
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see: src/base/reconstruction.cc
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void Reconstruction::ReadImagesText(const std::string& path)
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void Reconstruction::WriteImagesText(const std::string& path)
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"""
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images = {}
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with open(path, "r") as fid:
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while True:
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line = fid.readline()
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if not line:
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break
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line = line.strip()
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if len(line) > 0 and line[0] != "#":
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elems = line.split()
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image_id = int(elems[0])
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qvec = np.array(tuple(map(float, elems[1:5])))
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tvec = np.array(tuple(map(float, elems[5:8])))
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camera_id = int(elems[8])
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image_name = elems[9]
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elems = fid.readline().split()
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xys = np.column_stack([tuple(map(float, elems[0::3])),
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tuple(map(float, elems[1::3]))])
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point3D_ids = np.array(tuple(map(int, elems[2::3])))
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images[image_id] = Image(
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id=image_id, qvec=qvec, tvec=tvec,
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camera_id=camera_id, name=image_name,
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xys=xys, point3D_ids=point3D_ids)
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return images
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def read_images_binary(path_to_model_file):
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"""
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see: src/base/reconstruction.cc
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void Reconstruction::ReadImagesBinary(const std::string& path)
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void Reconstruction::WriteImagesBinary(const std::string& path)
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"""
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images = {}
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with open(path_to_model_file, "rb") as fid:
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num_reg_images = read_next_bytes(fid, 8, "Q")[0]
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for image_index in range(num_reg_images):
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binary_image_properties = read_next_bytes(
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fid, num_bytes=64, format_char_sequence="idddddddi")
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image_id = binary_image_properties[0]
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qvec = np.array(binary_image_properties[1:5])
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tvec = np.array(binary_image_properties[5:8])
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camera_id = binary_image_properties[8]
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image_name = ""
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current_char = read_next_bytes(fid, 1, "c")[0]
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while current_char != b"\x00": # look for the ASCII 0 entry
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image_name += current_char.decode("utf-8")
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current_char = read_next_bytes(fid, 1, "c")[0]
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num_points2D = read_next_bytes(fid, num_bytes=8,
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format_char_sequence="Q")[0]
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x_y_id_s = read_next_bytes(fid, num_bytes=24*num_points2D,
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format_char_sequence="ddq"*num_points2D)
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xys = np.column_stack([tuple(map(float, x_y_id_s[0::3])),
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tuple(map(float, x_y_id_s[1::3]))])
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point3D_ids = np.array(tuple(map(int, x_y_id_s[2::3])))
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images[image_id] = Image(
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id=image_id, qvec=qvec, tvec=tvec,
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camera_id=camera_id, name=image_name,
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xys=xys, point3D_ids=point3D_ids)
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return images
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def read_points3D_text(path):
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"""
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see: src/base/reconstruction.cc
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void Reconstruction::ReadPoints3DText(const std::string& path)
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void Reconstruction::WritePoints3DText(const std::string& path)
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"""
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points3D = {}
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with open(path, "r") as fid:
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while True:
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line = fid.readline()
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if not line:
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break
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line = line.strip()
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if len(line) > 0 and line[0] != "#":
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elems = line.split()
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point3D_id = int(elems[0])
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xyz = np.array(tuple(map(float, elems[1:4])))
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rgb = np.array(tuple(map(int, elems[4:7])))
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error = float(elems[7])
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image_ids = np.array(tuple(map(int, elems[8::2])))
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point2D_idxs = np.array(tuple(map(int, elems[9::2])))
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points3D[point3D_id] = Point3D(id=point3D_id, xyz=xyz, rgb=rgb,
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error=error, image_ids=image_ids,
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point2D_idxs=point2D_idxs)
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return points3D
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def read_points3d_binary(path_to_model_file):
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"""
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see: src/base/reconstruction.cc
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void Reconstruction::ReadPoints3DBinary(const std::string& path)
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void Reconstruction::WritePoints3DBinary(const std::string& path)
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"""
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points3D = {}
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with open(path_to_model_file, "rb") as fid:
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num_points = read_next_bytes(fid, 8, "Q")[0]
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for point_line_index in range(num_points):
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binary_point_line_properties = read_next_bytes(
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fid, num_bytes=43, format_char_sequence="QdddBBBd")
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point3D_id = binary_point_line_properties[0]
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xyz = np.array(binary_point_line_properties[1:4])
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rgb = np.array(binary_point_line_properties[4:7])
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error = np.array(binary_point_line_properties[7])
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track_length = read_next_bytes(
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fid, num_bytes=8, format_char_sequence="Q")[0]
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track_elems = read_next_bytes(
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fid, num_bytes=8*track_length,
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format_char_sequence="ii"*track_length)
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image_ids = np.array(tuple(map(int, track_elems[0::2])))
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point2D_idxs = np.array(tuple(map(int, track_elems[1::2])))
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points3D[point3D_id] = Point3D(
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id=point3D_id, xyz=xyz, rgb=rgb,
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error=error, image_ids=image_ids,
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point2D_idxs=point2D_idxs)
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return points3D
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def read_model(path, ext):
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if ext == ".txt":
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cameras = read_cameras_text(os.path.join(path, "cameras" + ext))
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images = read_images_text(os.path.join(path, "images" + ext))
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points3D = read_points3D_text(os.path.join(path, "points3D") + ext)
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else:
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cameras = read_cameras_binary(os.path.join(path, "cameras" + ext))
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images = read_images_binary(os.path.join(path, "images" + ext))
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points3D = read_points3d_binary(os.path.join(path, "points3D") + ext)
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return cameras, images, points3D
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def qvec2rotmat(qvec):
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return np.array([
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[1 - 2 * qvec[2]**2 - 2 * qvec[3]**2,
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2 * qvec[1] * qvec[2] - 2 * qvec[0] * qvec[3],
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2 * qvec[3] * qvec[1] + 2 * qvec[0] * qvec[2]],
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[2 * qvec[1] * qvec[2] + 2 * qvec[0] * qvec[3],
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1 - 2 * qvec[1]**2 - 2 * qvec[3]**2,
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2 * qvec[2] * qvec[3] - 2 * qvec[0] * qvec[1]],
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[2 * qvec[3] * qvec[1] - 2 * qvec[0] * qvec[2],
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2 * qvec[2] * qvec[3] + 2 * qvec[0] * qvec[1],
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1 - 2 * qvec[1]**2 - 2 * qvec[2]**2]])
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def rotmat2qvec(R):
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Rxx, Ryx, Rzx, Rxy, Ryy, Rzy, Rxz, Ryz, Rzz = R.flat
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K = np.array([
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[Rxx - Ryy - Rzz, 0, 0, 0],
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[Ryx + Rxy, Ryy - Rxx - Rzz, 0, 0],
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[Rzx + Rxz, Rzy + Ryz, Rzz - Rxx - Ryy, 0],
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[Ryz - Rzy, Rzx - Rxz, Rxy - Ryx, Rxx + Ryy + Rzz]]) / 3.0
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eigvals, eigvecs = np.linalg.eigh(K)
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qvec = eigvecs[[3, 0, 1, 2], np.argmax(eigvals)]
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if qvec[0] < 0:
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qvec *= -1
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return qvec
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def write_cameras_text(cameras, path):
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"""
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see: src/base/reconstruction.cc
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void Reconstruction::WriteCamerasText(const std::string& path)
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void Reconstruction::ReadCamerasText(const std::string& path)
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"""
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HEADER = '# Camera list with one line of data per camera:\n'
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'# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]\n'
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'# Number of cameras: {}\n'.format(len(cameras))
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with open(path, "w") as fid:
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fid.write(HEADER)
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for _, cam in cameras.items():
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to_write = [cam.id, cam.model, cam.width, cam.height, *cam.params]
|
||
|
|
line = " ".join([str(elem) for elem in to_write])
|
||
|
|
fid.write(line + "\n")
|
||
|
|
|
||
|
|
def write_next_bytes(fid, data, format_char_sequence, endian_character="<"):
|
||
|
|
"""pack and write to a binary file.
|
||
|
|
:param fid:
|
||
|
|
:param data: data to send, if multiple elements are sent at the same time,
|
||
|
|
they should be encapsuled either in a list or a tuple
|
||
|
|
:param format_char_sequence: List of {c, e, f, d, h, H, i, I, l, L, q, Q}.
|
||
|
|
should be the same length as the data list or tuple
|
||
|
|
:param endian_character: Any of {@, =, <, >, !}
|
||
|
|
"""
|
||
|
|
if isinstance(data, (list, tuple)):
|
||
|
|
bytes = struct.pack(endian_character + format_char_sequence, *data)
|
||
|
|
else:
|
||
|
|
bytes = struct.pack(endian_character + format_char_sequence, data)
|
||
|
|
fid.write(bytes)
|
||
|
|
|
||
|
|
def write_cameras_binary(cameras, path_to_model_file):
|
||
|
|
"""
|
||
|
|
see: src/base/reconstruction.cc
|
||
|
|
void Reconstruction::WriteCamerasBinary(const std::string& path)
|
||
|
|
void Reconstruction::ReadCamerasBinary(const std::string& path)
|
||
|
|
"""
|
||
|
|
with open(path_to_model_file, "wb") as fid:
|
||
|
|
write_next_bytes(fid, len(cameras), "Q")
|
||
|
|
for _, cam in cameras.items():
|
||
|
|
model_id = CAMERA_MODEL_NAMES[cam.model].model_id
|
||
|
|
camera_properties = [cam.id,
|
||
|
|
model_id,
|
||
|
|
cam.width,
|
||
|
|
cam.height]
|
||
|
|
write_next_bytes(fid, camera_properties, "iiQQ")
|
||
|
|
for p in cam.params:
|
||
|
|
write_next_bytes(fid, float(p), "d")
|
||
|
|
return cameras
|
||
|
|
|
||
|
|
|
||
|
|
def write_images_binary(images, path_to_model_file):
|
||
|
|
"""
|
||
|
|
see: src/base/reconstruction.cc
|
||
|
|
void Reconstruction::ReadImagesBinary(const std::string& path)
|
||
|
|
void Reconstruction::WriteImagesBinary(const std::string& path)
|
||
|
|
"""
|
||
|
|
with open(path_to_model_file, "wb") as fid:
|
||
|
|
write_next_bytes(fid, len(images), "Q")
|
||
|
|
for _, img in images.items():
|
||
|
|
write_next_bytes(fid, img.id, "i")
|
||
|
|
write_next_bytes(fid, img.qvec.tolist(), "dddd")
|
||
|
|
write_next_bytes(fid, img.tvec.tolist(), "ddd")
|
||
|
|
write_next_bytes(fid, img.camera_id, "i")
|
||
|
|
for char in img.name:
|
||
|
|
write_next_bytes(fid, char.encode("utf-8"), "c")
|
||
|
|
write_next_bytes(fid, b"\x00", "c")
|
||
|
|
write_next_bytes(fid, len(img.point3D_ids), "Q")
|
||
|
|
for xy, p3d_id in zip(img.xys, img.point3D_ids):
|
||
|
|
write_next_bytes(fid, [*xy, p3d_id], "ddq")
|
||
|
|
|
||
|
|
def write_images_text(images, path):
|
||
|
|
"""
|
||
|
|
see: src/base/reconstruction.cc
|
||
|
|
void Reconstruction::ReadImagesText(const std::string& path)
|
||
|
|
void Reconstruction::WriteImagesText(const std::string& path)
|
||
|
|
"""
|
||
|
|
if len(images) == 0:
|
||
|
|
mean_observations = 0
|
||
|
|
else:
|
||
|
|
mean_observations = sum((len(img.point3D_ids) for _, img in images.items()))/len(images)
|
||
|
|
HEADER = '# Image list with two lines of data per image:\n'
|
||
|
|
'# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME\n'
|
||
|
|
'# POINTS2D[] as (X, Y, POINT3D_ID)\n'
|
||
|
|
'# Number of images: {}, mean observations per image: {}\n'.format(len(images), mean_observations)
|
||
|
|
|
||
|
|
with open(path, "w") as fid:
|
||
|
|
fid.write(HEADER)
|
||
|
|
for _, img in images.items():
|
||
|
|
image_header = [img.id, *img.qvec, *img.tvec, img.camera_id, img.name]
|
||
|
|
first_line = " ".join(map(str, image_header))
|
||
|
|
fid.write(first_line + "\n")
|
||
|
|
|
||
|
|
points_strings = []
|
||
|
|
for xy, point3D_id in zip(img.xys, img.point3D_ids):
|
||
|
|
points_strings.append(" ".join(map(str, [*xy, point3D_id])))
|
||
|
|
fid.write(" ".join(points_strings) + "\n")
|
||
|
|
|
||
|
|
def write_points3D_text(points3D, path):
|
||
|
|
"""
|
||
|
|
see: src/base/reconstruction.cc
|
||
|
|
void Reconstruction::ReadPoints3DText(const std::string& path)
|
||
|
|
void Reconstruction::WritePoints3DText(const std::string& path)
|
||
|
|
"""
|
||
|
|
if len(points3D) == 0:
|
||
|
|
mean_track_length = 0
|
||
|
|
else:
|
||
|
|
mean_track_length = sum((len(pt.image_ids) for _, pt in points3D.items()))/len(points3D)
|
||
|
|
HEADER = '# 3D point list with one line of data per point:\n'
|
||
|
|
'# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)\n'
|
||
|
|
'# Number of points: {}, mean track length: {}\n'.format(len(points3D), mean_track_length)
|
||
|
|
|
||
|
|
with open(path, "w") as fid:
|
||
|
|
fid.write(HEADER)
|
||
|
|
for _, pt in points3D.items():
|
||
|
|
point_header = [pt.id, *pt.xyz, *pt.rgb, pt.error]
|
||
|
|
fid.write(" ".join(map(str, point_header)) + " ")
|
||
|
|
track_strings = []
|
||
|
|
for image_id, point2D in zip(pt.image_ids, pt.point2D_idxs):
|
||
|
|
track_strings.append(" ".join(map(str, [image_id, point2D])))
|
||
|
|
fid.write(" ".join(track_strings) + "\n")
|
||
|
|
|
||
|
|
|
||
|
|
def write_points3d_binary(points3D, path_to_model_file):
|
||
|
|
"""
|
||
|
|
see: src/base/reconstruction.cc
|
||
|
|
void Reconstruction::ReadPoints3DBinary(const std::string& path)
|
||
|
|
void Reconstruction::WritePoints3DBinary(const std::string& path)
|
||
|
|
"""
|
||
|
|
with open(path_to_model_file, "wb") as fid:
|
||
|
|
write_next_bytes(fid, len(points3D), "Q")
|
||
|
|
for _, pt in points3D.items():
|
||
|
|
write_next_bytes(fid, pt.id, "Q")
|
||
|
|
write_next_bytes(fid, pt.xyz.tolist(), "ddd")
|
||
|
|
write_next_bytes(fid, pt.rgb.tolist(), "BBB")
|
||
|
|
write_next_bytes(fid, pt.error, "d")
|
||
|
|
track_length = pt.image_ids.shape[0]
|
||
|
|
write_next_bytes(fid, track_length, "Q")
|
||
|
|
for image_id, point2D_id in zip(pt.image_ids, pt.point2D_idxs):
|
||
|
|
write_next_bytes(fid, [image_id, point2D_id], "ii")
|