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# Copyright (c) 2018, ETH Zurich and UNC Chapel Hill. | |
# All rights reserved. | |
# | |
# Redistribution and use in source and binary forms, with or without | |
# modification, are permitted provided that the following conditions are met: | |
# | |
# * Redistributions of source code must retain the above copyright | |
# notice, this list of conditions and the following disclaimer. | |
# | |
# * Redistributions in binary form must reproduce the above copyright | |
# notice, this list of conditions and the following disclaimer in the | |
# documentation and/or other materials provided with the distribution. | |
# | |
# * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of | |
# its contributors may be used to endorse or promote products derived | |
# from this software without specific prior written permission. | |
# | |
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | |
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | |
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | |
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE | |
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | |
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | |
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | |
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | |
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | |
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | |
# POSSIBILITY OF SUCH DAMAGE. | |
# | |
# Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
import os | |
import collections | |
import numpy as np | |
import struct | |
import argparse | |
import logging | |
logger = logging.getLogger(__name__) | |
CameraModel = collections.namedtuple( | |
"CameraModel", ["model_id", "model_name", "num_params"] | |
) | |
Camera = collections.namedtuple( | |
"Camera", ["id", "model", "width", "height", "params"] | |
) | |
BaseImage = collections.namedtuple( | |
"Image", ["id", "qvec", "tvec", "camera_id", "name", "xys", "point3D_ids"] | |
) | |
Point3D = collections.namedtuple( | |
"Point3D", ["id", "xyz", "rgb", "error", "image_ids", "point2D_idxs"] | |
) | |
class Image(BaseImage): | |
def qvec2rotmat(self): | |
return qvec2rotmat(self.qvec) | |
CAMERA_MODELS = { | |
CameraModel(model_id=0, model_name="SIMPLE_PINHOLE", num_params=3), | |
CameraModel(model_id=1, model_name="PINHOLE", num_params=4), | |
CameraModel(model_id=2, model_name="SIMPLE_RADIAL", num_params=4), | |
CameraModel(model_id=3, model_name="RADIAL", num_params=5), | |
CameraModel(model_id=4, model_name="OPENCV", num_params=8), | |
CameraModel(model_id=5, model_name="OPENCV_FISHEYE", num_params=8), | |
CameraModel(model_id=6, model_name="FULL_OPENCV", num_params=12), | |
CameraModel(model_id=7, model_name="FOV", num_params=5), | |
CameraModel(model_id=8, model_name="SIMPLE_RADIAL_FISHEYE", num_params=4), | |
CameraModel(model_id=9, model_name="RADIAL_FISHEYE", num_params=5), | |
CameraModel(model_id=10, model_name="THIN_PRISM_FISHEYE", num_params=12), | |
} | |
CAMERA_MODEL_IDS = dict( | |
[(camera_model.model_id, camera_model) for camera_model in CAMERA_MODELS] | |
) | |
CAMERA_MODEL_NAMES = dict( | |
[(camera_model.model_name, camera_model) for camera_model in CAMERA_MODELS] | |
) | |
def read_next_bytes(fid, num_bytes, format_char_sequence, endian_character="<"): | |
"""Read and unpack the next bytes from a binary file. | |
:param fid: | |
:param num_bytes: Sum of combination of {2, 4, 8}, e.g. 2, 6, 16, 30, etc. | |
:param format_char_sequence: List of {c, e, f, d, h, H, i, I, l, L, q, Q}. | |
:param endian_character: Any of {@, =, <, >, !} | |
:return: Tuple of read and unpacked values. | |
""" | |
data = fid.read(num_bytes) | |
return struct.unpack(endian_character + format_char_sequence, data) | |
def write_next_bytes(fid, data, format_char_sequence, endian_character="<"): | |
"""pack and write to a binary file. | |
:param fid: | |
:param data: data to send, if multiple elements are sent at the same time, | |
they should be encapsuled either in a list or a tuple | |
:param format_char_sequence: List of {c, e, f, d, h, H, i, I, l, L, q, Q}. | |
should be the same length as the data list or tuple | |
:param endian_character: Any of {@, =, <, >, !} | |
""" | |
if isinstance(data, (list, tuple)): | |
bytes = struct.pack(endian_character + format_char_sequence, *data) | |
else: | |
bytes = struct.pack(endian_character + format_char_sequence, data) | |
fid.write(bytes) | |
def read_cameras_text(path): | |
""" | |
see: src/base/reconstruction.cc | |
void Reconstruction::WriteCamerasText(const std::string& path) | |
void Reconstruction::ReadCamerasText(const std::string& path) | |
""" | |
cameras = {} | |
with open(path, "r") as fid: | |
while True: | |
line = fid.readline() | |
if not line: | |
break | |
line = line.strip() | |
if len(line) > 0 and line[0] != "#": | |
elems = line.split() | |
camera_id = int(elems[0]) | |
model = elems[1] | |
width = int(elems[2]) | |
height = int(elems[3]) | |
params = np.array(tuple(map(float, elems[4:]))) | |
cameras[camera_id] = Camera( | |
id=camera_id, | |
model=model, | |
width=width, | |
height=height, | |
params=params, | |
) | |
return cameras | |
def read_cameras_binary(path_to_model_file): | |
""" | |
see: src/base/reconstruction.cc | |
void Reconstruction::WriteCamerasBinary(const std::string& path) | |
void Reconstruction::ReadCamerasBinary(const std::string& path) | |
""" | |
cameras = {} | |
with open(path_to_model_file, "rb") as fid: | |
num_cameras = read_next_bytes(fid, 8, "Q")[0] | |
for _ in range(num_cameras): | |
camera_properties = read_next_bytes( | |
fid, num_bytes=24, format_char_sequence="iiQQ" | |
) | |
camera_id = camera_properties[0] | |
model_id = camera_properties[1] | |
model_name = CAMERA_MODEL_IDS[camera_properties[1]].model_name | |
width = camera_properties[2] | |
height = camera_properties[3] | |
num_params = CAMERA_MODEL_IDS[model_id].num_params | |
params = read_next_bytes( | |
fid, | |
num_bytes=8 * num_params, | |
format_char_sequence="d" * num_params, | |
) | |
cameras[camera_id] = Camera( | |
id=camera_id, | |
model=model_name, | |
width=width, | |
height=height, | |
params=np.array(params), | |
) | |
assert len(cameras) == num_cameras | |
return cameras | |
def write_cameras_text(cameras, path): | |
""" | |
see: src/base/reconstruction.cc | |
void Reconstruction::WriteCamerasText(const std::string& path) | |
void Reconstruction::ReadCamerasText(const std::string& path) | |
""" | |
HEADER = ( | |
"# Camera list with one line of data per camera:\n" | |
+ "# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]\n" | |
+ "# Number of cameras: {}\n".format(len(cameras)) | |
) | |
with open(path, "w") as fid: | |
fid.write(HEADER) | |
for _, cam in cameras.items(): | |
to_write = [cam.id, cam.model, cam.width, cam.height, *cam.params] | |
line = " ".join([str(elem) for elem in to_write]) | |
fid.write(line + "\n") | |
def write_cameras_binary(cameras, path_to_model_file): | |
""" | |
see: src/base/reconstruction.cc | |
void Reconstruction::WriteCamerasBinary(const std::string& path) | |
void Reconstruction::ReadCamerasBinary(const std::string& path) | |
""" | |
with open(path_to_model_file, "wb") as fid: | |
write_next_bytes(fid, len(cameras), "Q") | |
for _, cam in cameras.items(): | |
model_id = CAMERA_MODEL_NAMES[cam.model].model_id | |
camera_properties = [cam.id, model_id, cam.width, cam.height] | |
write_next_bytes(fid, camera_properties, "iiQQ") | |
for p in cam.params: | |
write_next_bytes(fid, float(p), "d") | |
return cameras | |
def read_images_text(path): | |
""" | |
see: src/base/reconstruction.cc | |
void Reconstruction::ReadImagesText(const std::string& path) | |
void Reconstruction::WriteImagesText(const std::string& path) | |
""" | |
images = {} | |
with open(path, "r") as fid: | |
while True: | |
line = fid.readline() | |
if not line: | |
break | |
line = line.strip() | |
if len(line) > 0 and line[0] != "#": | |
elems = line.split() | |
image_id = int(elems[0]) | |
qvec = np.array(tuple(map(float, elems[1:5]))) | |
tvec = np.array(tuple(map(float, elems[5:8]))) | |
camera_id = int(elems[8]) | |
image_name = elems[9] | |
elems = fid.readline().split() | |
xys = np.column_stack( | |
[ | |
tuple(map(float, elems[0::3])), | |
tuple(map(float, elems[1::3])), | |
] | |
) | |
point3D_ids = np.array(tuple(map(int, elems[2::3]))) | |
images[image_id] = Image( | |
id=image_id, | |
qvec=qvec, | |
tvec=tvec, | |
camera_id=camera_id, | |
name=image_name, | |
xys=xys, | |
point3D_ids=point3D_ids, | |
) | |
return images | |
def read_images_binary(path_to_model_file): | |
""" | |
see: src/base/reconstruction.cc | |
void Reconstruction::ReadImagesBinary(const std::string& path) | |
void Reconstruction::WriteImagesBinary(const std::string& path) | |
""" | |
images = {} | |
with open(path_to_model_file, "rb") as fid: | |
num_reg_images = read_next_bytes(fid, 8, "Q")[0] | |
for _ in range(num_reg_images): | |
binary_image_properties = read_next_bytes( | |
fid, num_bytes=64, format_char_sequence="idddddddi" | |
) | |
image_id = binary_image_properties[0] | |
qvec = np.array(binary_image_properties[1:5]) | |
tvec = np.array(binary_image_properties[5:8]) | |
camera_id = binary_image_properties[8] | |
image_name = "" | |
current_char = read_next_bytes(fid, 1, "c")[0] | |
while current_char != b"\x00": # look for the ASCII 0 entry | |
image_name += current_char.decode("utf-8") | |
current_char = read_next_bytes(fid, 1, "c")[0] | |
num_points2D = read_next_bytes( | |
fid, num_bytes=8, format_char_sequence="Q" | |
)[0] | |
x_y_id_s = read_next_bytes( | |
fid, | |
num_bytes=24 * num_points2D, | |
format_char_sequence="ddq" * num_points2D, | |
) | |
xys = np.column_stack( | |
[ | |
tuple(map(float, x_y_id_s[0::3])), | |
tuple(map(float, x_y_id_s[1::3])), | |
] | |
) | |
point3D_ids = np.array(tuple(map(int, x_y_id_s[2::3]))) | |
images[image_id] = Image( | |
id=image_id, | |
qvec=qvec, | |
tvec=tvec, | |
camera_id=camera_id, | |
name=image_name, | |
xys=xys, | |
point3D_ids=point3D_ids, | |
) | |
return images | |
def write_images_text(images, path): | |
""" | |
see: src/base/reconstruction.cc | |
void Reconstruction::ReadImagesText(const std::string& path) | |
void Reconstruction::WriteImagesText(const std::string& path) | |
""" | |
if len(images) == 0: | |
mean_observations = 0 | |
else: | |
mean_observations = sum( | |
(len(img.point3D_ids) for _, img in images.items()) | |
) / len(images) | |
HEADER = ( | |
"# Image list with two lines of data per image:\n" | |
+ "# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME\n" | |
+ "# POINTS2D[] as (X, Y, POINT3D_ID)\n" | |
+ "# Number of images: {}, mean observations per image: {}\n".format( | |
len(images), mean_observations | |
) | |
) | |
with open(path, "w") as fid: | |
fid.write(HEADER) | |
for _, img in images.items(): | |
image_header = [ | |
img.id, | |
*img.qvec, | |
*img.tvec, | |
img.camera_id, | |
img.name, | |
] | |
first_line = " ".join(map(str, image_header)) | |
fid.write(first_line + "\n") | |
points_strings = [] | |
for xy, point3D_id in zip(img.xys, img.point3D_ids): | |
points_strings.append(" ".join(map(str, [*xy, point3D_id]))) | |
fid.write(" ".join(points_strings) + "\n") | |
def write_images_binary(images, path_to_model_file): | |
""" | |
see: src/base/reconstruction.cc | |
void Reconstruction::ReadImagesBinary(const std::string& path) | |
void Reconstruction::WriteImagesBinary(const std::string& path) | |
""" | |
with open(path_to_model_file, "wb") as fid: | |
write_next_bytes(fid, len(images), "Q") | |
for _, img in images.items(): | |
write_next_bytes(fid, img.id, "i") | |
write_next_bytes(fid, img.qvec.tolist(), "dddd") | |
write_next_bytes(fid, img.tvec.tolist(), "ddd") | |
write_next_bytes(fid, img.camera_id, "i") | |
for char in img.name: | |
write_next_bytes(fid, char.encode("utf-8"), "c") | |
write_next_bytes(fid, b"\x00", "c") | |
write_next_bytes(fid, len(img.point3D_ids), "Q") | |
for xy, p3d_id in zip(img.xys, img.point3D_ids): | |
write_next_bytes(fid, [*xy, p3d_id], "ddq") | |
def read_points3D_text(path): | |
""" | |
see: src/base/reconstruction.cc | |
void Reconstruction::ReadPoints3DText(const std::string& path) | |
void Reconstruction::WritePoints3DText(const std::string& path) | |
""" | |
points3D = {} | |
with open(path, "r") as fid: | |
while True: | |
line = fid.readline() | |
if not line: | |
break | |
line = line.strip() | |
if len(line) > 0 and line[0] != "#": | |
elems = line.split() | |
point3D_id = int(elems[0]) | |
xyz = np.array(tuple(map(float, elems[1:4]))) | |
rgb = np.array(tuple(map(int, elems[4:7]))) | |
error = float(elems[7]) | |
image_ids = np.array(tuple(map(int, elems[8::2]))) | |
point2D_idxs = np.array(tuple(map(int, elems[9::2]))) | |
points3D[point3D_id] = Point3D( | |
id=point3D_id, | |
xyz=xyz, | |
rgb=rgb, | |
error=error, | |
image_ids=image_ids, | |
point2D_idxs=point2D_idxs, | |
) | |
return points3D | |
def read_points3D_binary(path_to_model_file): | |
""" | |
see: src/base/reconstruction.cc | |
void Reconstruction::ReadPoints3DBinary(const std::string& path) | |
void Reconstruction::WritePoints3DBinary(const std::string& path) | |
""" | |
points3D = {} | |
with open(path_to_model_file, "rb") as fid: | |
num_points = read_next_bytes(fid, 8, "Q")[0] | |
for _ in range(num_points): | |
binary_point_line_properties = read_next_bytes( | |
fid, num_bytes=43, format_char_sequence="QdddBBBd" | |
) | |
point3D_id = binary_point_line_properties[0] | |
xyz = np.array(binary_point_line_properties[1:4]) | |
rgb = np.array(binary_point_line_properties[4:7]) | |
error = np.array(binary_point_line_properties[7]) | |
track_length = read_next_bytes( | |
fid, num_bytes=8, format_char_sequence="Q" | |
)[0] | |
track_elems = read_next_bytes( | |
fid, | |
num_bytes=8 * track_length, | |
format_char_sequence="ii" * track_length, | |
) | |
image_ids = np.array(tuple(map(int, track_elems[0::2]))) | |
point2D_idxs = np.array(tuple(map(int, track_elems[1::2]))) | |
points3D[point3D_id] = Point3D( | |
id=point3D_id, | |
xyz=xyz, | |
rgb=rgb, | |
error=error, | |
image_ids=image_ids, | |
point2D_idxs=point2D_idxs, | |
) | |
return points3D | |
def write_points3D_text(points3D, path): | |
""" | |
see: src/base/reconstruction.cc | |
void Reconstruction::ReadPoints3DText(const std::string& path) | |
void Reconstruction::WritePoints3DText(const std::string& path) | |
""" | |
if len(points3D) == 0: | |
mean_track_length = 0 | |
else: | |
mean_track_length = sum( | |
(len(pt.image_ids) for _, pt in points3D.items()) | |
) / len(points3D) | |
HEADER = ( | |
"# 3D point list with one line of data per point:\n" | |
+ "# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)\n" | |
+ "# Number of points: {}, mean track length: {}\n".format( | |
len(points3D), mean_track_length | |
) | |
) | |
with open(path, "w") as fid: | |
fid.write(HEADER) | |
for _, pt in points3D.items(): | |
point_header = [pt.id, *pt.xyz, *pt.rgb, pt.error] | |
fid.write(" ".join(map(str, point_header)) + " ") | |
track_strings = [] | |
for image_id, point2D in zip(pt.image_ids, pt.point2D_idxs): | |
track_strings.append(" ".join(map(str, [image_id, point2D]))) | |
fid.write(" ".join(track_strings) + "\n") | |
def write_points3D_binary(points3D, path_to_model_file): | |
""" | |
see: src/base/reconstruction.cc | |
void Reconstruction::ReadPoints3DBinary(const std::string& path) | |
void Reconstruction::WritePoints3DBinary(const std::string& path) | |
""" | |
with open(path_to_model_file, "wb") as fid: | |
write_next_bytes(fid, len(points3D), "Q") | |
for _, pt in points3D.items(): | |
write_next_bytes(fid, pt.id, "Q") | |
write_next_bytes(fid, pt.xyz.tolist(), "ddd") | |
write_next_bytes(fid, pt.rgb.tolist(), "BBB") | |
write_next_bytes(fid, pt.error, "d") | |
track_length = pt.image_ids.shape[0] | |
write_next_bytes(fid, track_length, "Q") | |
for image_id, point2D_id in zip(pt.image_ids, pt.point2D_idxs): | |
write_next_bytes(fid, [image_id, point2D_id], "ii") | |
def detect_model_format(path, ext): | |
if ( | |
os.path.isfile(os.path.join(path, "cameras" + ext)) | |
and os.path.isfile(os.path.join(path, "images" + ext)) | |
and os.path.isfile(os.path.join(path, "points3D" + ext)) | |
): | |
return True | |
return False | |
def read_model(path, ext=""): | |
# try to detect the extension automatically | |
if ext == "": | |
if detect_model_format(path, ".bin"): | |
ext = ".bin" | |
elif detect_model_format(path, ".txt"): | |
ext = ".txt" | |
else: | |
try: | |
cameras, images, points3D = read_model( | |
os.path.join(path, "model/") | |
) | |
logger.warning( | |
"This SfM file structure was deprecated in hloc v1.1" | |
) | |
return cameras, images, points3D | |
except FileNotFoundError: | |
raise FileNotFoundError( | |
f"Could not find binary or text COLMAP model at {path}" | |
) | |
if ext == ".txt": | |
cameras = read_cameras_text(os.path.join(path, "cameras" + ext)) | |
images = read_images_text(os.path.join(path, "images" + ext)) | |
points3D = read_points3D_text(os.path.join(path, "points3D") + ext) | |
else: | |
cameras = read_cameras_binary(os.path.join(path, "cameras" + ext)) | |
images = read_images_binary(os.path.join(path, "images" + ext)) | |
points3D = read_points3D_binary(os.path.join(path, "points3D") + ext) | |
return cameras, images, points3D | |
def write_model(cameras, images, points3D, path, ext=".bin"): | |
if ext == ".txt": | |
write_cameras_text(cameras, os.path.join(path, "cameras" + ext)) | |
write_images_text(images, os.path.join(path, "images" + ext)) | |
write_points3D_text(points3D, os.path.join(path, "points3D") + ext) | |
else: | |
write_cameras_binary(cameras, os.path.join(path, "cameras" + ext)) | |
write_images_binary(images, os.path.join(path, "images" + ext)) | |
write_points3D_binary(points3D, os.path.join(path, "points3D") + ext) | |
return cameras, images, points3D | |
def qvec2rotmat(qvec): | |
return np.array( | |
[ | |
[ | |
1 - 2 * qvec[2] ** 2 - 2 * qvec[3] ** 2, | |
2 * qvec[1] * qvec[2] - 2 * qvec[0] * qvec[3], | |
2 * qvec[3] * qvec[1] + 2 * qvec[0] * qvec[2], | |
], | |
[ | |
2 * qvec[1] * qvec[2] + 2 * qvec[0] * qvec[3], | |
1 - 2 * qvec[1] ** 2 - 2 * qvec[3] ** 2, | |
2 * qvec[2] * qvec[3] - 2 * qvec[0] * qvec[1], | |
], | |
[ | |
2 * qvec[3] * qvec[1] - 2 * qvec[0] * qvec[2], | |
2 * qvec[2] * qvec[3] + 2 * qvec[0] * qvec[1], | |
1 - 2 * qvec[1] ** 2 - 2 * qvec[2] ** 2, | |
], | |
] | |
) | |
def rotmat2qvec(R): | |
Rxx, Ryx, Rzx, Rxy, Ryy, Rzy, Rxz, Ryz, Rzz = R.flat | |
K = ( | |
np.array( | |
[ | |
[Rxx - Ryy - Rzz, 0, 0, 0], | |
[Ryx + Rxy, Ryy - Rxx - Rzz, 0, 0], | |
[Rzx + Rxz, Rzy + Ryz, Rzz - Rxx - Ryy, 0], | |
[Ryz - Rzy, Rzx - Rxz, Rxy - Ryx, Rxx + Ryy + Rzz], | |
] | |
) | |
/ 3.0 | |
) | |
eigvals, eigvecs = np.linalg.eigh(K) | |
qvec = eigvecs[[3, 0, 1, 2], np.argmax(eigvals)] | |
if qvec[0] < 0: | |
qvec *= -1 | |
return qvec | |
def main(): | |
parser = argparse.ArgumentParser( | |
description="Read and write COLMAP binary and text models" | |
) | |
parser.add_argument("--input_model", help="path to input model folder") | |
parser.add_argument( | |
"--input_format", | |
choices=[".bin", ".txt"], | |
help="input model format", | |
default="", | |
) | |
parser.add_argument("--output_model", help="path to output model folder") | |
parser.add_argument( | |
"--output_format", | |
choices=[".bin", ".txt"], | |
help="outut model format", | |
default=".txt", | |
) | |
args = parser.parse_args() | |
cameras, images, points3D = read_model( | |
path=args.input_model, ext=args.input_format | |
) | |
print("num_cameras:", len(cameras)) | |
print("num_images:", len(images)) | |
print("num_points3D:", len(points3D)) | |
if args.output_model is not None: | |
write_model( | |
cameras, | |
images, | |
points3D, | |
path=args.output_model, | |
ext=args.output_format, | |
) | |
if __name__ == "__main__": | |
main() | |