update calibration

apps/calibration/calib_static_dynamic_by_colmap.py

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