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import itertools |
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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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from pycolmap import Quaternion, SceneManager |
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def main(args): |
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scene_manager = SceneManager(args.input_folder) |
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scene_manager.load() |
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with open(args.output_file, "w") as fid: |
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fid.write("NVM_V3\n \n{:d}\n".format(len(scene_manager.images))) |
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image_fmt_str = " {:.3f} " + 7 * "{:.7f} " |
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for image_id, image in scene_manager.images.iteritems(): |
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camera = scene_manager.cameras[image.camera_id] |
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f = 0.5 * (camera.fx + camera.fy) |
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fid.write(args.image_name_prefix + image.name) |
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fid.write(image_fmt_str.format( |
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*((f,) + tuple(image.q.q) + tuple(image.C())))) |
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if camera.distortion_func is None: |
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fid.write("0 0\n") |
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else: |
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fid.write("{:.7f} 0\n".format(-camera.k1)) |
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image_id_to_idx = dict( |
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(image_id, i) for i, image_id in enumerate(scene_manager.images)) |
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fid.write("{:d}\n".format(len(scene_manager.points3D))) |
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for i, point3D_id in enumerate(scene_manager.point3D_ids): |
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fid.write( |
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"{:.7f} {:.7f} {:.7f} ".format(*scene_manager.points3D[i])) |
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fid.write( |
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"{:d} {:d} {:d} ".format(*scene_manager.point3D_colors[i])) |
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keypoints = [ |
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(image_id_to_idx[image_id], kp_idx) + |
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tuple(scene_manager.images[image_id].points2D[kp_idx]) |
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for image_id, kp_idx in |
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scene_manager.point3D_id_to_images[point3D_id]] |
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fid.write("{:d}".format(len(keypoints))) |
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fid.write( |
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(len(keypoints) * " {:d} {:d} {:.3f} {:.3f}" + "\n").format( |
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*itertools.chain(*keypoints))) |
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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="Save a COLMAP reconstruction in the NVM format " |
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"(http://ccwu.me/vsfm/doc.html#nvm).", |
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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("--image_name_prefix", type=str, default="", |
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help="prefix image names with this string (e.g., 'images/')") |
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args = parser.parse_args() |
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main(args) |
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