87 lines
3.3 KiB
Python
87 lines
3.3 KiB
Python
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'''
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@ Date: 2022-05-09 12:32:50
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@ Author: Qing Shuai
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@ Mail: s_q@zju.edu.cn
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@ LastEditors: Qing Shuai
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@ LastEditTime: 2022-09-13 16:31:29
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@ FilePath: /EasyMocapPublic/apps/calibration/calib_static_dynamic_by_colmap.py
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'''
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import os
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from os.path import join
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import shutil
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from easymocap.mytools.debug_utils import log, myerror, mywarn, run_cmd, mkdir
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from easymocap.mytools.colmap_wrapper import colmap_feature_extract, colmap_feature_match
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from tqdm import tqdm
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def copy_images(data, out, nf=0):
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subs = sorted(os.listdir(data))
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image_names = []
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for sub in subs:
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srcname = join(data, sub, '{:06d}.jpg'.format(nf))
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dstname = join(out, '{}.jpg'.format(sub))
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os.makedirs(os.path.dirname(dstname), exist_ok=True)
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shutil.copyfile(srcname, dstname)
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image_names.append(dstname)
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return image_names
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def copy_to_newdir(path, out, num):
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statics = copy_images(join(path, 'images'), join(out, 'images', 'static'), nf=0)
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scannames = sorted(os.listdir(join(path, 'scan')))
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if num != -1:
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log('[copy] sample {} from {} images'.format(num, len(scannames)))
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scannames = scannames[::len(scannames)//num]
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scans = []
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for name in tqdm(scannames):
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srcname = join(path, 'scan', name)
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dstname = join(out, 'images', 'scan', name)
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os.makedirs(os.path.dirname(dstname), exist_ok=True)
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shutil.copyfile(srcname, dstname)
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scans.append(dstname)
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return statics, scans
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def sparse_recon(path, statics, scans, colmap):
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colmap_feature_extract(colmap, path, share_camera=False, add_mask=False, gpu=args.gpu,
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share_camera_per_folder=True)
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colmap_feature_match(colmap, path, gpu=args.gpu)
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mkdir(join(path, 'sparse'))
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cmd = f'{colmap} mapper --database_path {path}/database.db --image_path {path}/images --output_path {path}/sparse \
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--Mapper.ba_refine_principal_point 1 \
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--Mapper.ba_global_max_num_iterations 1000 \
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'
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run_cmd(cmd)
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if __name__ == '__main__':
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import argparse
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parser = argparse.ArgumentParser(usage=
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'''This script is used to calibrate a scene with a moving videos and multiple images captured by static cameras
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''')
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parser.add_argument('path', type=str)
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parser.add_argument('out', type=str)
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parser.add_argument('--colmap', type=str, default=None)
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parser.add_argument('--num', type=int, default=-1)
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parser.add_argument('--step', type=int, default=800)
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parser.add_argument('--add_mask', action='store_true')
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parser.add_argument('--no_camera', action='store_true')
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parser.add_argument('--gpu', action='store_true')
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parser.add_argument('--debug', action='store_true')
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args = parser.parse_args()
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data = args.path
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out_root = args.out
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for ext in ['mp4', 'mov', 'avi']:
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scanname = join(args.path, 'scan.{}'.format(ext))
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if os.path.exists(scanname):
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break
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else:
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myerror('[error] {} not found'.format('scan.mp4, scan.mov, scan.avi'))
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exit(1)
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scandir = join(args.path, 'scan')
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if not os.path.exists(scandir):
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os.makedirs(scandir)
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cmd = f'ffmpeg -i {scanname} -q:v 1 -start_number 0 -r {args.step} {scandir}/%06d.jpg -loglevel quiet'
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run_cmd(cmd)
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# copy to output dir
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statics, scans = copy_to_newdir(args.path, out_root, num=args.num)
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sparse_recon(out_root, statics, scans, args.colmap)
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