67 lines
2.7 KiB
Python
67 lines
2.7 KiB
Python
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'''
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@ Date: 2022-06-20 15:00:58
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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: 2022-06-20 15:47:03
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@ FilePath: /EasyMocapPublic/apps/calibration/calib_dense_by_colmap.py
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'''
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# This script helps to calibration dense cameras with colmap
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from os.path import join
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import os
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from easymocap.mytools.colmap_wrapper import COLMAPDatabase, colmap_ba, colmap_dense, colmap_feature_match, copy_images, create_empty_db
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from easymocap.mytools.colmap_wrapper import colmap_feature_extract
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from easymocap.mytools.debug_utils import log
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def run_dense(path, colmap, args):
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# out = join(out_root, '{}_{:06d}'.format(seq, nf))
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sparse_dir = join(path, 'sparse', 'model')
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os.makedirs(sparse_dir, exist_ok=True)
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# create blank database
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database_name = join(path, 'database.db')
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create_empty_db(database_name)
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# if not args.no_camera:
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# db = COLMAPDatabase.connect(database_name)
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# cameras_colmap, cameras_map = create_cameras(db, cameras, list(image_names.keys()))
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# write_cameras_binary(cameras_colmap, join(sparse_dir, 'cameras.bin'))
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# images = create_images(db, cameras, cameras_map, image_names)
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# write_images_binary(images, join(sparse_dir, 'images.bin'))
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# write_points3d_binary({}, join(sparse_dir, 'points3D.bin'))
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# db.commit()
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# db.close()
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# perform COLMAP extracting and matching
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colmap_feature_extract(colmap, path, args.share_camera, args.add_mask)
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colmap_feature_match(colmap, path)
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# check the matches
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db = COLMAPDatabase.connect(join(path, 'database.db'))
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geometry = db.read_two_view_geometry()
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db.close()
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num_pairs = len(geometry)
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num_matches = []
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for key, val in geometry.items():
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log('cameras: {} has {:5d} matches'.format(key, len(val['matches'])))
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num_matches.append(len(val['matches']))
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# log('[match] {}_{:06d}: {} pairs: {}'.format(seq, nf, num_pairs, sum(num_matches)))
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# if not args.no_camera: continue
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colmap_ba(colmap, path)
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if args.dense:
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colmap_dense(colmap, path)
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if __name__ == '__main__':
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import argparse
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parser = argparse.ArgumentParser()
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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='colmap')
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parser.add_argument('--f', type=int, default=0)
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parser.add_argument('--share_camera', action='store_true')
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parser.add_argument('--add_mask', action='store_true')
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parser.add_argument('--dense', 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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copy_images(args.path, args.out, args.f)
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run_dense(args.out, args.colmap, args)
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