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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 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_cameras() |
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scene_manager.load_images() |
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if args.sort: |
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images = sorted( |
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scene_manager.images.itervalues(), key=lambda im: im.name) |
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else: |
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images = scene_manager.images.values() |
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fid = open(args.output_file, "w") |
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fid_filenames = open(args.output_file + ".list.txt", "w") |
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print>>fid, "# Bundle file v0.3" |
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print>>fid, len(images), 0 |
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for image in images: |
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print>>fid_filenames, image.name |
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camera = scene_manager.cameras[image.camera_id] |
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print>>fid, 0.5 * (camera.fx + camera.fy), 0, 0 |
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R, t = image.R(), image.t |
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print>>fid, R[0, 0], R[0, 1], R[0, 2] |
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print>>fid, -R[1, 0], -R[1, 1], -R[1, 2] |
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print>>fid, -R[2, 0], -R[2, 1], -R[2, 2] |
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print>>fid, t[0], -t[1], -t[2] |
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fid.close() |
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fid_filenames.close() |
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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="Saves the camera positions in the Bundler format. Note " |
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"that 3D points are not saved.", |
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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("--sort", default=False, action="store_true", |
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help="sort the images by their filename") |
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args = parser.parse_args() |
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main(args) |
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