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openMVS/apps/InterfaceCOLMAP/InterfaceCOLMAP.cpp

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/*
* InterfaceCOLMAP.cpp
*
* Copyright (c) 2014-2018 SEACAVE
*
* Author(s):
*
* cDc <cdc.seacave@gmail.com>
*
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU Affero General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU Affero General Public License for more details.
*
* You should have received a copy of the GNU Affero General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*
*
* Additional Terms:
*
* You are required to preserve legal notices and author attributions in
* that material or in the Appropriate Legal Notices displayed by works
* containing it.
*/
#include "../../libs/MVS/Common.h"
#include "../../libs/MVS/Scene.h"
#include <boost/program_options.hpp>
#include "endian.h"
using namespace MVS;
// D E F I N E S ///////////////////////////////////////////////////
#define APPNAME _T("InterfaceCOLMAP")
#define MVS_FILE_EXTENSION _T(".mvs")
#define COLMAP_IMAGES_FOLDER _T("images/")
#define COLMAP_SPARSE_FOLDER _T("sparse/")
#define COLMAP_CAMERAS_TXT COLMAP_SPARSE_FOLDER _T("cameras.txt")
#define COLMAP_IMAGES_TXT COLMAP_SPARSE_FOLDER _T("images.txt")
#define COLMAP_POINTS_TXT COLMAP_SPARSE_FOLDER _T("points3D.txt")
#define COLMAP_CAMERAS_BIN COLMAP_SPARSE_FOLDER _T("cameras.bin")
#define COLMAP_IMAGES_BIN COLMAP_SPARSE_FOLDER _T("images.bin")
#define COLMAP_POINTS_BIN COLMAP_SPARSE_FOLDER _T("points3D.bin")
#define COLMAP_DENSE_POINTS _T("fused.ply")
#define COLMAP_DENSE_POINTS_VISIBILITY _T("fused.ply.vis")
#define COLMAP_STEREO_FOLDER _T("stereo/")
#define COLMAP_FUSION COLMAP_STEREO_FOLDER _T("fusion.cfg")
#define COLMAP_PATCHMATCH COLMAP_STEREO_FOLDER _T("patch-match.cfg")
#define COLMAP_STEREO_CONSISTENCYGRAPHS_FOLDER COLMAP_STEREO_FOLDER _T("consistency_graphs/")
#define COLMAP_STEREO_DEPTHMAPS_FOLDER COLMAP_STEREO_FOLDER _T("depth_maps/")
#define COLMAP_STEREO_NORMALMAPS_FOLDER COLMAP_STEREO_FOLDER _T("normal_maps/")
// S T R U C T S ///////////////////////////////////////////////////
namespace {
namespace OPT {
bool IsFromOpenMVS; // conversion direction
bool bNormalizeIntrinsics;
bool bForceSparsePointCloud;
String strInputFileName;
String strPointCloudFileName;
String strOutputFileName;
String strImageFolder;
unsigned nArchiveType;
int nProcessPriority;
unsigned nMaxThreads;
String strConfigFileName;
boost::program_options::variables_map vm;
} // namespace OPT
class Application {
public:
Application() {}
~Application() { CleanUp(); }
bool Initialize(size_t argc, LPCTSTR* argv);
void CleanUp();
}; // Application
// Initializes the application and parses command-line parameters
bool Application::Initialize(size_t argc, LPCTSTR* argv)
{
// Open the log file and console for output
OPEN_LOG();
OPEN_LOGCONSOLE();
// group of options allowed only on command line
boost::program_options::options_description generic("Generic options");
generic.add_options()
("help,h", "imports SfM or MVS scene stored in COLMAP undistoreted format OR exports MVS scene to COLMAP format")
("working-folder,w", boost::program_options::value<std::string>(&WORKING_FOLDER), "working directory (default current directory)")
("config-file,c", boost::program_options::value<std::string>(&OPT::strConfigFileName)->default_value(APPNAME _T(".cfg")), "file name containing program options")
("archive-type", boost::program_options::value(&OPT::nArchiveType)->default_value(ARCHIVE_MVS), "project archive type: -1-interface, 0-text, 1-binary, 2-compressed binary")
("process-priority", boost::program_options::value(&OPT::nProcessPriority)->default_value(-1), "process priority (below normal by default)")
("max-threads", boost::program_options::value(&OPT::nMaxThreads)->default_value(0), "maximum number of threads (0 for using all available cores)")
#if TD_VERBOSE != TD_VERBOSE_OFF
("verbosity,v", boost::program_options::value(&g_nVerbosityLevel)->default_value(
#if TD_VERBOSE == TD_VERBOSE_DEBUG
3
#else
2
#endif
), "verbosity level")
#endif
;
// group of options allowed both on command line and in config file
boost::program_options::options_description configOptions("Main options");
configOptions.add_options()
("input-file,i", boost::program_options::value<std::string>(&OPT::strInputFileName), "input COLMAP folder containing cameras, images and points files OR input MVS project file")
("pointcloud-file,p", boost::program_options::value<std::string>(&OPT::strPointCloudFileName), "point-cloud with views file name (overwrite existing point-cloud)")
("output-file,o", boost::program_options::value<std::string>(&OPT::strOutputFileName), "output filename for storing the MVS project")
("image-folder", boost::program_options::value<std::string>(&OPT::strImageFolder)->default_value(COLMAP_IMAGES_FOLDER), "folder to the undistorted images")
("normalize,f", boost::program_options::value(&OPT::bNormalizeIntrinsics)->default_value(false), "normalize intrinsics while exporting to MVS format")
("force-points,e", boost::program_options::value(&OPT::bForceSparsePointCloud)->default_value(false), "force exporting point-cloud as sparse points also even if dense point-cloud detected")
;
// Combine all command-line options
boost::program_options::options_description cmdline_options;
cmdline_options.add(generic).add(configOptions);
// Only config file options
boost::program_options::options_description config_file_options;
config_file_options.add(configOptions);
boost::program_options::positional_options_description positionalOptions;
positionalOptions.add("input-file", -1);
try {
// parse command line options
boost::program_options::store(boost::program_options::command_line_parser((int)argc, argv).options(cmdline_options).positional(positionalOptions).run(), OPT::vm);
boost::program_options::notify(OPT::vm);
// Initialize working folder
INIT_WORKING_FOLDER;
// Parse configuration file if exists
std::ifstream configFile(MAKE_PATH_SAFE(OPT::strConfigFileName));
if (configFile) {
boost::program_options::store(parse_config_file(configFile, config_file_options), OPT::vm);
boost::program_options::notify(OPT::vm);
}
}
catch (const std::exception& e) {
LOG(e.what());
return false;
}
// Open and configure the log file
OPEN_LOGFILE(MAKE_PATH(APPNAME _T("-")+Util::getUniqueName(0)+_T(".log")));
// print application details: version and command line
Util::LogBuild();
LOG(_T("Command line: ") APPNAME _T("%s"), Util::CommandLineToString(argc, argv).c_str());
// Check and validate paths
Util::ensureValidPath(OPT::strInputFileName);
Util::ensureValidPath(OPT::strPointCloudFileName);
// Handle help option or invalid command
const bool bInvalidCommand(OPT::strInputFileName.empty());
if (OPT::vm.count("help") || bInvalidCommand) {
boost::program_options::options_description visible("Available options");
visible.add(generic).add(configOptions);
GET_LOG() << _T("\n"
"Import/export 3D reconstruction from COLMAP (TXT/BIN format) and to COLMAP (TXT format). \n"
"In order to import a scene, run COLMAP SfM and next undistort the images (only PINHOLE\n"
"camera model supported for the moment)."
"\n")
<< visible;
}
if (bInvalidCommand)
return false;
// initialize optional options
Util::ensureValidFolderPath(OPT::strImageFolder);
Util::ensureValidPath(OPT::strOutputFileName);
OPT::strImageFolder = MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strImageFolder);
// Determine if the source file is an OpenMVS project by checking the file extension
const String inputFileExtension(Util::getFileExt(OPT::strInputFileName).ToLower());
OPT::IsFromOpenMVS = (inputFileExtension == MVS_FILE_EXTENSION);
// Set default output filename based on input filename if not explicitly specified
if (OPT::IsFromOpenMVS) {
if (OPT::strOutputFileName.empty())
OPT::strOutputFileName = Util::getFilePath(OPT::strInputFileName);
} else {
// Ensure the input filename ends with a directory slash if needed
Util::ensureFolderSlash(OPT::strInputFileName);
if (OPT::strOutputFileName.empty())
OPT::strOutputFileName = OPT::strInputFileName + _T("scene") MVS_FILE_EXTENSION;
}
MVS::Initialize(APPNAME, OPT::nMaxThreads, OPT::nProcessPriority);
return true;
}
// finalize application instance
void Application::CleanUp()
{
MVS::Finalize();
CLOSE_LOGFILE();
CLOSE_LOGCONSOLE();
CLOSE_LOG();
}
namespace COLMAP {
using namespace colmap;
// See colmap/src/util/types.h
typedef uint32_t camera_t;
typedef uint32_t image_t;
typedef uint64_t image_pair_t;
typedef uint32_t point2D_t;
typedef uint64_t point3D_t;
const std::vector<String> mapCameraModel = {
"SIMPLE_PINHOLE",
"PINHOLE",
"SIMPLE_RADIAL",
"RADIAL",
"OPENCV",
"OPENCV_FISHEYE",
"FULL_OPENCV",
"FOV",
"SIMPLE_RADIAL_FISHEYE",
"RADIAL_FISHEYE",
"THIN_PRISM_FISHEYE"
};
// tools
bool NextLine(std::istream& stream, std::istringstream& in, bool bIgnoreEmpty=true) {
String line;
do {
std::getline(stream, line);
Util::strTrim(line, _T(" "));
if (stream.fail())
return false;
} while (((bIgnoreEmpty && line.empty()) || line[0u] == '#') && stream.good());
in.clear();
in.str(line);
return true;
}
// structure describing a camera
struct Camera {
uint32_t ID; // ID of the camera
String model; // camera model name
uint32_t width, height; // camera resolution
std::vector<REAL> params; // camera parameters
uint64_t numCameras{0}; // only for binary format
Camera() {}
Camera(uint32_t _ID) : ID(_ID) {}
bool operator < (const Camera& rhs) const { return ID < rhs.ID; }
struct CameraHash {
size_t operator()(const Camera& camera) const {
const size_t h1(std::hash<String>()(camera.model));
const size_t h2(std::hash<uint32_t>()(camera.width));
const size_t h3(std::hash<uint32_t>()(camera.height));
size_t h(h1 ^ ((h2 ^ (h3 << 1)) << 1));
for (REAL p: camera.params)
h = std::hash<REAL>()(p) ^ (h << 1);
return h;
}
};
struct CameraEqualTo {
bool operator()(const Camera& _Left, const Camera& _Right) const {
return _Left.model == _Right.model &&
_Left.width == _Right.width && _Left.height == _Right.height &&
_Left.params == _Right.params;
}
};
bool Read(std::istream& stream, bool binary) {
if (binary)
return ReadBIN(stream);
return ReadTXT(stream);
}
bool Write(std::ostream& stream, bool binary) {
if (binary)
return WriteBIN(stream);
return WriteTXT(stream);
}
// Camera list with one line of data per camera:
// CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]
bool ReadTXT(std::istream& stream) {
std::istringstream in;
if (!NextLine(stream, in))
return false;
in >> ID >> model >> width >> height;
if (in.fail())
return false;
--ID;
if (model != _T("PINHOLE"))
return false;
params.resize(4);
in >> params[0] >> params[1] >> params[2] >> params[3];
return !in.fail();
}
// See: colmap/src/base/reconstruction.cc
// void Reconstruction::ReadCamerasBinary(const std::string& path)
bool ReadBIN(std::istream& stream) {
if (stream.peek() == EOF)
return false;
if (numCameras == 0) {
// Read the first entry in the binary file
numCameras = ReadBinaryLittleEndian<uint64_t>(&stream);
}
ID = ReadBinaryLittleEndian<camera_t>(&stream)-1;
model = mapCameraModel[ReadBinaryLittleEndian<int>(&stream)];
width = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
height = (uint32_t)ReadBinaryLittleEndian<uint64_t>(&stream);
if (model != _T("PINHOLE"))
return false;
params.resize(4);
ReadBinaryLittleEndian<double>(&stream, &params);
return true;
}
bool WriteTXT(std::ostream& out) const {
out << ID+1 << _T(" ") << model << _T(" ") << width << _T(" ") << height;
if (out.fail())
return false;
for (REAL param: params) {
out << _T(" ") << param;
if (out.fail())
return false;
}
out << std::endl;
return true;
}
bool WriteBIN(std::ostream& stream) {
if (numCameras != 0) {
// Write the first entry in the binary file
WriteBinaryLittleEndian<uint64_t>(&stream, numCameras);
numCameras = 0;
}
WriteBinaryLittleEndian<camera_t>(&stream, ID+1);
const int64 modelId(std::distance(mapCameraModel.begin(), std::find(mapCameraModel.begin(), mapCameraModel.end(), model)));
WriteBinaryLittleEndian<int>(&stream, (int)modelId);
WriteBinaryLittleEndian<uint64_t>(&stream, width);
WriteBinaryLittleEndian<uint64_t>(&stream, height);
for (REAL param: params)
WriteBinaryLittleEndian<double>(&stream, param);
return !stream.fail();
}
};
typedef std::vector<Camera> Cameras;
// structure describing an image
struct Image {
struct Proj {
Eigen::Vector2f p;
uint32_t idPoint;
};
uint32_t ID; // ID of the image
Eigen::Quaterniond q; // rotation
Eigen::Vector3d t; // translation
uint32_t idCamera; // ID of the associated camera
String name; // image file name
std::vector<Proj> projs; // known image projections
uint64_t numRegImages{0}; // only for binary format
Image() {}
Image(uint32_t _ID) : ID(_ID) {}
bool operator < (const Image& rhs) const { return ID < rhs.ID; }
bool Read(std::istream& stream, bool binary) {
if (binary)
return ReadBIN(stream);
return ReadTXT(stream);
}
bool Write(std::ostream& stream, bool binary) {
if (binary)
return WriteBIN(stream);
return WriteTXT(stream);
}
// Image list with two lines of data per image:
// IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME
// POINTS2D[] as (X, Y, POINT3D_ID)
bool ReadTXT(std::istream& stream) {
std::istringstream in;
if (!NextLine(stream, in))
return false;
in >> ID
>> q.w() >> q.x() >> q.y() >> q.z()
>> t(0) >> t(1) >> t(2)
>> idCamera >> name;
if (in.fail())
return false;
--ID; --idCamera;
Util::ensureValidPath(name);
if (!NextLine(stream, in, false))
return false;
projs.clear();
while (true) {
Proj proj;
in >> proj.p(0) >> proj.p(1) >> (int&)proj.idPoint;
if (in.fail())
break;
--proj.idPoint;
projs.emplace_back(proj);
}
return true;
}
// See: colmap/src/base/reconstruction.cc
// void Reconstruction::ReadImagesBinary(const std::string& path)
bool ReadBIN(std::istream& stream) {
if (stream.peek() == EOF)
return false;
if (!numRegImages) {
// Read the first entry in the binary file
numRegImages = ReadBinaryLittleEndian<uint64_t>(&stream);
}
ID = ReadBinaryLittleEndian<image_t>(&stream)-1;
q.w() = ReadBinaryLittleEndian<double>(&stream);
q.x() = ReadBinaryLittleEndian<double>(&stream);
q.y() = ReadBinaryLittleEndian<double>(&stream);
q.z() = ReadBinaryLittleEndian<double>(&stream);
t(0) = ReadBinaryLittleEndian<double>(&stream);
t(1) = ReadBinaryLittleEndian<double>(&stream);
t(2) = ReadBinaryLittleEndian<double>(&stream);
idCamera = ReadBinaryLittleEndian<camera_t>(&stream)-1;
name = "";
while (true) {
char nameChar;
stream.read(&nameChar, 1);
if (nameChar == '\0')
break;
name += nameChar;
}
Util::ensureValidPath(name);
const size_t numPoints2D = ReadBinaryLittleEndian<uint64_t>(&stream);
projs.clear();
for (size_t j = 0; j < numPoints2D; ++j) {
Proj proj;
proj.p(0) = (float)ReadBinaryLittleEndian<double>(&stream);
proj.p(1) = (float)ReadBinaryLittleEndian<double>(&stream);
proj.idPoint = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream)-1;
projs.emplace_back(proj);
}
return true;
}
bool WriteTXT(std::ostream& out) const {
out << ID+1 << _T(" ")
<< q.w() << _T(" ") << q.x() << _T(" ") << q.y() << _T(" ") << q.z() << _T(" ")
<< t(0) << _T(" ") << t(1) << _T(" ") << t(2) << _T(" ")
<< idCamera+1 << _T(" ") << name
<< std::endl;
for (const Proj& proj: projs) {
out << proj.p(0) << _T(" ") << proj.p(1) << _T(" ") << (int)proj.idPoint+1 << _T(" ");
if (out.fail())
return false;
}
out << std::endl;
return !out.fail();
}
bool WriteBIN(std::ostream& stream) {
if (numRegImages != 0) {
// Write the first entry in the binary file
WriteBinaryLittleEndian<uint64_t>(&stream, numRegImages);
numRegImages = 0;
}
WriteBinaryLittleEndian<image_t>(&stream, ID+1);
WriteBinaryLittleEndian<double>(&stream, q.w());
WriteBinaryLittleEndian<double>(&stream, q.x());
WriteBinaryLittleEndian<double>(&stream, q.y());
WriteBinaryLittleEndian<double>(&stream, q.z());
WriteBinaryLittleEndian<double>(&stream, t(0));
WriteBinaryLittleEndian<double>(&stream, t(1));
WriteBinaryLittleEndian<double>(&stream, t(2));
WriteBinaryLittleEndian<camera_t>(&stream, idCamera+1);
stream.write(name.c_str(), name.size()+1);
WriteBinaryLittleEndian<uint64_t>(&stream, projs.size());
for (const Proj& proj: projs) {
WriteBinaryLittleEndian<double>(&stream, proj.p(0));
WriteBinaryLittleEndian<double>(&stream, proj.p(1));
WriteBinaryLittleEndian<point3D_t>(&stream, proj.idPoint+1);
}
return !stream.fail();
}
};
typedef std::vector<Image> Images;
// structure describing a 3D point
struct Point {
struct Track {
uint32_t idImage;
uint32_t idProj;
};
uint32_t ID; // ID of the point
Interface::Pos3f p; // position
Interface::Col3 c; // BGR color
float e; // error
std::vector<Track> tracks; // point track
uint64_t numPoints3D{0}; // only for binary format
Point() {}
Point(uint32_t _ID) : ID(_ID) {}
bool operator < (const Image& rhs) const { return ID < rhs.ID; }
bool Read(std::istream& stream, bool binary) {
if (binary)
return ReadBIN(stream);
return ReadTXT(stream);
}
bool Write(std::ostream& stream, bool binary) {
if (binary)
return WriteBIN(stream);
return WriteTXT(stream);
}
// 3D point list with one line of data per point:
// POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)
bool ReadTXT(std::istream& stream) {
std::istringstream in;
if (!NextLine(stream, in))
return false;
int r,g,b;
in >> ID
>> p.x >> p.y >> p.z
>> r >> g >> b
>> e;
c.x = CLAMP(b,0,255);
c.y = CLAMP(g,0,255);
c.z = CLAMP(r,0,255);
if (in.fail())
return false;
--ID;
tracks.clear();
while (true) {
Track track;
in >> track.idImage >> track.idProj;
if (in.fail())
break;
--track.idImage; --track.idProj;
tracks.emplace_back(track);
}
return !tracks.empty();
}
// See: colmap/src/base/reconstruction.cc
// void Reconstruction::ReadPoints3DBinary(const std::string& path)
bool ReadBIN(std::istream& stream) {
if (stream.peek() == EOF)
return false;
if (!numPoints3D) {
// Read the first entry in the binary file
numPoints3D = ReadBinaryLittleEndian<uint64_t>(&stream);
}
int r,g,b;
ID = (uint32_t)ReadBinaryLittleEndian<point3D_t>(&stream)-1;
p.x = (float)ReadBinaryLittleEndian<double>(&stream);
p.y = (float)ReadBinaryLittleEndian<double>(&stream);
p.z = (float)ReadBinaryLittleEndian<double>(&stream);
r = ReadBinaryLittleEndian<uint8_t>(&stream);
g = ReadBinaryLittleEndian<uint8_t>(&stream);
b = ReadBinaryLittleEndian<uint8_t>(&stream);
e = (float)ReadBinaryLittleEndian<double>(&stream);
c.x = CLAMP(b,0,255);
c.y = CLAMP(g,0,255);
c.z = CLAMP(r,0,255);
const size_t trackLength = ReadBinaryLittleEndian<uint64_t>(&stream);
tracks.clear();
for (size_t j = 0; j < trackLength; ++j) {
Track track;
track.idImage = ReadBinaryLittleEndian<image_t>(&stream)-1;
track.idProj = ReadBinaryLittleEndian<point2D_t>(&stream)-1;
tracks.emplace_back(track);
}
return !tracks.empty();
}
bool WriteTXT(std::ostream& out) const {
ASSERT(!tracks.empty());
const int r(c.z),g(c.y),b(c.x);
out << ID+1 << _T(" ")
<< p.x << _T(" ") << p.y << _T(" ") << p.z << _T(" ")
<< r << _T(" ") << g << _T(" ") << b << _T(" ")
<< e << _T(" ");
for (const Track& track: tracks) {
out << track.idImage+1 << _T(" ") << track.idProj+1 << _T(" ");
if (out.fail())
return false;
}
out << std::endl;
return !out.fail();
}
bool WriteBIN(std::ostream& stream) {
ASSERT(!tracks.empty());
if (numPoints3D != 0) {
// Write the first entry in the binary file
WriteBinaryLittleEndian<uint64_t>(&stream, numPoints3D);
numPoints3D = 0;
}
WriteBinaryLittleEndian<point3D_t>(&stream, ID+1);
WriteBinaryLittleEndian<double>(&stream, p.x);
WriteBinaryLittleEndian<double>(&stream, p.y);
WriteBinaryLittleEndian<double>(&stream, p.z);
WriteBinaryLittleEndian<uint8_t>(&stream, c.z);
WriteBinaryLittleEndian<uint8_t>(&stream, c.y);
WriteBinaryLittleEndian<uint8_t>(&stream, c.x);
WriteBinaryLittleEndian<double>(&stream, e);
WriteBinaryLittleEndian<uint64_t>(&stream, tracks.size());
for (const Track& track: tracks) {
WriteBinaryLittleEndian<image_t>(&stream, track.idImage+1);
WriteBinaryLittleEndian<point2D_t>(&stream, track.idProj+1);
}
return !stream.fail();
}
};
typedef std::vector<Point> Points;
// structure describing an 2D dynamic matrix
template <typename T>
struct Mat {
size_t width_ = 0;
size_t height_ = 0;
size_t depth_ = 0;
std::vector<T> data_;
size_t GetNumBytes() const {
return data_.size() * sizeof(T);
}
const T* GetChannelPtr(size_t c) const {
return data_.data()+width_*height_*c;
}
// See: colmap/src/mvs/mat.h
void Read(const std::string& path) {
std::streampos pos; {
std::fstream text_file(path, std::ios::in | std::ios::binary);
char unused_char;
text_file >> width_ >> unused_char >> height_ >> unused_char >> depth_ >>
unused_char;
pos = text_file.tellg();
}
data_.resize(width_ * height_ * depth_);
std::fstream binary_file(path, std::ios::in | std::ios::binary);
binary_file.seekg(pos);
ReadBinaryLittleEndian<T>(&binary_file, &data_);
}
void Write(const std::string& path) const {
{
std::fstream text_file(path, std::ios::out);
text_file << width_ << "&" << height_ << "&" << depth_ << "&";
}
std::fstream binary_file(path, std::ios::out | std::ios::binary | std::ios::app);
WriteBinaryLittleEndian<T>(&binary_file, data_);
}
};
} // namespace COLMAP
typedef Eigen::Matrix<double,3,3,Eigen::RowMajor> EMat33d;
typedef Eigen::Matrix<double,3,1> EVec3d;
/**
* Determines whether to use the TXT or BIN version of a file based on availability.
* It tries to open the TXT file first; if unsuccessful, it attempts to open the BIN file.
*
* @param filenameTXT The path to the TXT file.
* @param filenameBIN The path to the BIN file.
* @param fileStream Reference to the ifstream object that will be used for file operations.
* @param chosenFilename Reference to a string that will store the path of the chosen file.
* @param isBinaryFormat Reference to a boolean that indicates whether the chosen file is binary.
* @return true if either file was successfully opened, false otherwise.
*/
bool DetermineInputSource(const String& filenameTXT, const String& filenameBIN, std::ifstream& fileStream, String& filenameCamera, bool& isBinaryFormat)
{
// Try to open the TXT file first.
fileStream.open(filenameTXT);
if (fileStream.good()) {
filenameCamera = filenameTXT;
isBinaryFormat = false;
return true;
}
fileStream.open(filenameBIN, std::ios::binary);
if (fileStream.good()) {
filenameCamera = filenameBIN;
isBinaryFormat = true;
return true;
}
VERBOSE("error: unable to open file '%s'", filenameTXT.c_str());
VERBOSE("error: unable to open file '%s'", filenameBIN.c_str());
return false;
}
bool ImportScene(const String& inputFolder, const String& outputFolder, Interface& scene, PointCloud& pointcloud)
{
// Define a map to store camera IDs and associated platform index.
typedef std::unordered_map<uint32_t,uint32_t> CamerasMap;
CamerasMap mapCameras;
{
// Determine the camera file source between TXT and BIN formats.
const String filenameCamerasTXT(inputFolder+COLMAP_CAMERAS_TXT);
const String filenameCamerasBIN(inputFolder+COLMAP_CAMERAS_BIN);
std::ifstream cameraFile;
bool isBinaryFormat;
String filenameCamera;
if (!DetermineInputSource(filenameCamerasTXT, filenameCamerasBIN, cameraFile, filenameCamera, isBinaryFormat)) {
return false; // Exit if file source determination fails.
}
LOG_OUT() << "Reading cameras: " << filenameCamera << std::endl;
typedef std::unordered_map<COLMAP::Camera,uint32_t,COLMAP::Camera::CameraHash,COLMAP::Camera::CameraEqualTo> CamerasSet;
CamerasSet setCameras;
COLMAP::Camera colmapCamera;
while (cameraFile.good() && colmapCamera.Read(cameraFile, isBinaryFormat)) {
const auto setIt(setCameras.emplace(colmapCamera, (uint32_t)scene.platforms.size()));
mapCameras.emplace(colmapCamera.ID, setIt.first->second);
if (!setIt.second) {
// reuse existing platform
continue;
}
// create new platform
Interface::Platform platform;
platform.name = String::FormatString(_T("platform%03u"), colmapCamera.ID); // only one camera per platform supported
Interface::Platform::Camera camera;
camera.name = colmapCamera.model;
camera.K = Interface::Mat33d::eye();
// account for different pixel center conventions as COLMAP uses pixel center at (0.5,0.5)
camera.K(0,0) = colmapCamera.params[0];
camera.K(1,1) = colmapCamera.params[1];
camera.K(0,2) = colmapCamera.params[2]-REAL(0.5);
camera.K(1,2) = colmapCamera.params[3]-REAL(0.5);
camera.R = Interface::Mat33d::eye();
camera.C = Interface::Pos3d(0,0,0);
if (OPT::bNormalizeIntrinsics) {
// normalize camera intrinsics
camera.K = Camera::ScaleK<double>(camera.K, 1.0/Camera::GetNormalizationScale(colmapCamera.width, colmapCamera.height));
} else {
camera.width = colmapCamera.width;
camera.height = colmapCamera.height;
}
platform.cameras.emplace_back(camera);
scene.platforms.emplace_back(platform);
}
}
if (mapCameras.empty()) {
VERBOSE("error: no valid cameras (make sure they are in PINHOLE model)");
return false;
}
// Function to read and process image data from input files
typedef std::map<COLMAP::Image, uint32_t> ImagesMap;
ImagesMap mapImages;
{
// Define a map to associate COLMAP image structures with scene image indices
const String filenameImagesTXT(inputFolder+COLMAP_IMAGES_TXT);
const String filenameImagesBIN(inputFolder+COLMAP_IMAGES_BIN);
std::ifstream file;
bool binary;
String filenameImages;
if (!DetermineInputSource(filenameImagesTXT, filenameImagesBIN, file, filenameImages, binary)) {
return false;
}
LOG_OUT() << "Reading images: " << filenameImages << std::endl;
// Read image data from the file and store in the scene structure
COLMAP::Image imageColmap;
while (file.good() && imageColmap.Read(file, binary)) {
mapImages.emplace(imageColmap, (uint32_t)scene.images.size());
Interface::Platform::Pose pose;
Eigen::Map<EMat33d>(pose.R.val) = imageColmap.q.toRotationMatrix();
EnsureRotationMatrix((Matrix3x3d&)pose.R);
Eigen::Map<EVec3d>(&pose.C.x) = -(imageColmap.q.inverse() * imageColmap.t);
Interface::Image image;
image.name = MAKE_PATH_REL(outputFolder,OPT::strImageFolder+imageColmap.name);
image.platformID = mapCameras.at(imageColmap.idCamera);
image.cameraID = 0;
image.ID = imageColmap.ID;
Interface::Platform& platform = scene.platforms[image.platformID];
image.poseID = (uint32_t)platform.poses.size();
platform.poses.emplace_back(pose);
scene.images.emplace_back(image);
}
}
// read points list
const String filenameDensePoints(inputFolder+COLMAP_DENSE_POINTS);
const String filenameDenseVisPoints(inputFolder+COLMAP_DENSE_POINTS_VISIBILITY);
{
// parse sparse point-cloud
const String filenamePointsTXT(inputFolder+COLMAP_POINTS_TXT);
const String filenamePointsBIN(inputFolder+COLMAP_POINTS_BIN);
std::ifstream file;
bool binary;
String filenamePoints;
if (!DetermineInputSource(filenamePointsTXT, filenamePointsBIN, file, filenamePoints, binary)) {
return false;
}
LOG_OUT() << "Reading points: " << filenamePoints << std::endl;
COLMAP::Point point;
while (file.good() && point.Read(file, binary)) {
Interface::Vertex vertex;
vertex.X = point.p;
for (const COLMAP::Point::Track& track: point.tracks) {
Interface::Vertex::View view;
view.imageID = mapImages.at(COLMAP::Image(track.idImage));
view.confidence = 0;
vertex.views.emplace_back(view);
}
std::sort(vertex.views.begin(), vertex.views.end(),
[](const Interface::Vertex::View& view0, const Interface::Vertex::View& view1) { return view0.imageID < view1.imageID; });
scene.vertices.emplace_back(std::move(vertex));
scene.verticesColor.emplace_back(Interface::Color{point.c});
}
}
pointcloud.Release();
if (File::access(filenameDensePoints) && File::access(filenameDenseVisPoints)) {
// parse dense point-cloud
LOG_OUT() << "Reading points: " << filenameDensePoints << " and " << filenameDenseVisPoints << std::endl;
if (!pointcloud.Load(filenameDensePoints)) {
VERBOSE("error: unable to open file '%s'", filenameDensePoints.c_str());
return false;
}
File file(filenameDenseVisPoints, File::READ, File::OPEN);
if (!file.isOpen()) {
VERBOSE("error: unable to open file '%s'", filenameDenseVisPoints.c_str());
return false;
}
uint64_t numPoints(0);
file.read(&numPoints, sizeof(uint64_t));
if (pointcloud.GetSize() != numPoints) {
VERBOSE("error: point-cloud and visibility have different size");
return false;
}
pointcloud.pointViews.resize(numPoints);
for (size_t i=0; i<numPoints; ++i) {
PointCloud::ViewArr& views = pointcloud.pointViews[i];
uint32_t numViews(0);
file.read(&numViews, sizeof(uint32_t));
for (uint32_t v=0; v<numViews; ++v) {
uint32_t imageID;
file.read(&imageID, sizeof(uint32_t));
views.emplace_back(imageID);
}
views.Sort();
}
}
// read depth-maps
const String pathDepthMaps(inputFolder+COLMAP_STEREO_DEPTHMAPS_FOLDER);
const String pathNormalMaps(inputFolder+COLMAP_STEREO_NORMALMAPS_FOLDER);
if (File::isFolder(pathDepthMaps) && File::isFolder(pathNormalMaps)) {
// read patch-match list
CLISTDEF2IDX(IIndexArr,IIndex) imagesNeighbors((IIndex)scene.images.size());
{
const String filenameFusion(inputFolder+COLMAP_PATCHMATCH);
LOG_OUT() << "Reading patch-match configuration: " << filenameFusion << std::endl;
std::ifstream file(filenameFusion);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenameFusion.c_str());
return false;
}
while (true) {
String imageName, neighbors;
std::getline(file, imageName);
std::getline(file, neighbors);
if (file.fail() || imageName.empty() || neighbors.empty())
break;
const ImagesMap::const_iterator it_image = std::find_if(mapImages.begin(), mapImages.end(),
[&imageName](const ImagesMap::value_type& image) {
return image.first.name == imageName;
});
if (it_image == mapImages.end())
continue;
IIndexArr& imageNeighbors = imagesNeighbors[it_image->second];
CLISTDEF2(String) neighborNames;
Util::strSplit(neighbors, _T(','), neighborNames);
FOREACH(i, neighborNames) {
String& neighborName = neighborNames[i];
Util::strTrim(neighborName, _T(" "));
const ImagesMap::const_iterator it_neighbor = std::find_if(mapImages.begin(), mapImages.end(),
[&neighborName](const ImagesMap::value_type& image) {
return image.first.name == neighborName;
});
if (it_neighbor == mapImages.end()) {
if (i == 0)
break;
continue;
}
imageNeighbors.emplace_back(scene.images[it_neighbor->second].ID);
}
}
}
LOG_OUT() << "Reading depth-maps/normal-maps: " << pathDepthMaps << " and " << pathNormalMaps << std::endl;
Util::ensureFolder(outputFolder);
const String strType[] = {".geometric.bin", ".photometric.bin"};
FOREACH(idx, scene.images) {
const Interface::Image& image = scene.images[idx];
COLMAP::Mat<float> colDepthMap, colNormalMap;
const String filenameImage(Util::getFileNameExt(image.name));
for (int i=0; i<2; ++i) {
const String filenameDepthMaps(pathDepthMaps+filenameImage+strType[i]);
if (File::isFile(filenameDepthMaps)) {
colDepthMap.Read(filenameDepthMaps);
const String filenameNormalMaps(pathNormalMaps+filenameImage+strType[i]);
if (File::isFile(filenameNormalMaps)) {
colNormalMap.Read(filenameNormalMaps);
}
break;
}
}
if (!colDepthMap.data_.empty()) {
IIndexArr IDs = {image.ID};
IDs.Join(imagesNeighbors[(IIndex)idx]);
const Interface::Platform& platform = scene.platforms[image.platformID];
const Interface::Platform::Pose pose(platform.GetPose(image.cameraID, image.poseID));
const Interface::Mat33d K(platform.GetFullK(image.cameraID, (uint32_t)colDepthMap.width_, (uint32_t)colDepthMap.height_));
MVS::DepthMap depthMap((int)colDepthMap.height_, (int)colDepthMap.width_);
memcpy(depthMap.getData(), colDepthMap.data_.data(), colDepthMap.GetNumBytes());
MVS::NormalMap normalMap;
if (!colNormalMap.data_.empty()) {
normalMap.create((int)colNormalMap.height_, (int)colNormalMap.width_);
cv::merge(std::vector<cv::Mat>{
cv::Mat((int)colNormalMap.height_, (int)colNormalMap.width_, CV_32F, (void*)colNormalMap.GetChannelPtr(0)),
cv::Mat((int)colNormalMap.height_, (int)colNormalMap.width_, CV_32F, (void*)colNormalMap.GetChannelPtr(1)),
cv::Mat((int)colNormalMap.height_, (int)colNormalMap.width_, CV_32F, (void*)colNormalMap.GetChannelPtr(2))
}, normalMap);
}
MVS::ConfidenceMap confMap;
MVS::ViewsMap viewsMap;
const auto depthMM(std::minmax_element(colDepthMap.data_.cbegin(), colDepthMap.data_.cend()));
const MVS::Depth dMin(*depthMM.first), dMax(*depthMM.second);
if (!ExportDepthDataRaw(outputFolder+String::FormatString("depth%04u.dmap", image.ID), MAKE_PATH_FULL(outputFolder, image.name), IDs, depthMap.size(), K, pose.R, pose.C, dMin, dMax, depthMap, normalMap, confMap, viewsMap))
return false;
}
}
}
return true;
}
bool ImportPointCloud(const String& strPointCloudFileName, Interface& scene)
{
PointCloud pointcloud;
if (!pointcloud.Load(strPointCloudFileName)) {
VERBOSE("error: cannot load point-cloud file");
return false;
}
if (!pointcloud.IsValid()) {
VERBOSE("error: loaded point-cloud does not have visibility information");
return false;
}
// replace scene point-cloud with the loaded one
scene.vertices.clear();
scene.verticesColor.clear();
scene.verticesNormal.clear();
scene.vertices.reserve(pointcloud.points.size());
if (!pointcloud.colors.empty())
scene.verticesColor.reserve(pointcloud.points.size());
if (!pointcloud.normals.empty())
scene.verticesNormal.reserve(pointcloud.points.size());
FOREACH(i, pointcloud.points) {
Interface::Vertex vertex;
vertex.X = pointcloud.points[i];
vertex.views.reserve(pointcloud.pointViews[i].size());
FOREACH(j, pointcloud.pointViews[i]) {
Interface::Vertex::View& view = vertex.views.emplace_back();
view.imageID = pointcloud.pointViews[i][j];
view.confidence = (pointcloud.pointWeights.empty() ? 0.f : pointcloud.pointWeights[i][j]);
}
scene.vertices.emplace_back(std::move(vertex));
if (!pointcloud.colors.empty()) {
const Pixel8U& c = pointcloud.colors[i];
scene.verticesColor.emplace_back(Interface::Color{Interface::Col3{c.b, c.g, c.r}});
}
if (!pointcloud.normals.empty())
scene.verticesNormal.emplace_back(Interface::Normal{pointcloud.normals[i]});
}
return true;
}
bool ExportScene(const String& strFolder, const Interface& scene, bool bForceSparsePointCloud = false, bool binary = true)
{
Util::ensureFolder(strFolder+COLMAP_SPARSE_FOLDER);
// write camera list
CLISTDEF0IDX(KMatrix,uint32_t) Ks;
CLISTDEF0IDX(COLMAP::Camera,uint32_t) cams;
{
// Construct the filename for camera data based on the format preference
const String filenameCameras(strFolder+(binary?COLMAP_CAMERAS_BIN:COLMAP_CAMERAS_TXT));
LOG_OUT() << "Writing cameras: " << filenameCameras << std::endl;
std::ofstream file(filenameCameras, binary ? std::ios::trunc|std::ios::binary : std::ios::trunc);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenameCameras.c_str());
return false;
}
COLMAP::Camera cam;
if (binary) {
cam.numCameras = 0;
for (const Interface::Platform& platform: scene.platforms)
cam.numCameras += (uint32_t)platform.cameras.size();
} else {
file << _T("# Camera list with one line of data per camera:") << std::endl;
file << _T("# CAMERA_ID, MODEL, WIDTH, HEIGHT, PARAMS[]") << std::endl;
}
cam.model = _T("PINHOLE");
cam.params.resize(4);
for (uint32_t ID=0; ID<(uint32_t)scene.platforms.size(); ++ID) {
const Interface::Platform& platform = scene.platforms[ID];
ASSERT(platform.cameras.size() == 1); // only one camera per platform supported
const Interface::Platform::Camera& camera = platform.cameras[0];
cam.ID = ID;
KMatrix K;
if (camera.width == 0 || camera.height == 0) {
// find one image using this camera
const Interface::Image* pImage(NULL);
for (uint32_t i=0; i<(uint32_t)scene.images.size(); ++i) {
const Interface::Image& image = scene.images[i];
if (image.platformID == ID && image.cameraID == 0 && image.poseID != NO_ID) {
pImage = &image;
break;
}
}
if (pImage == NULL) {
LOG("error: no image using camera %u of platform %u", 0, ID);
continue;
}
IMAGEPTR ptrImage(Image::ReadImageHeader(MAKE_PATH_SAFE(pImage->name)));
if (ptrImage == NULL)
return false;
cam.width = ptrImage->GetWidth();
cam.height = ptrImage->GetHeight();
// unnormalize camera intrinsics
K = platform.GetFullK(0, cam.width, cam.height);
} else {
cam.width = camera.width;
cam.height = camera.height;
K = camera.K;
}
// account for different pixel center conventions as COLMAP uses pixel center at (0.5,0.5)
cam.params[0] = K(0,0);
cam.params[1] = K(1,1);
cam.params[2] = K(0,2)+REAL(0.5);
cam.params[3] = K(1,2)+REAL(0.5);
if (!cam.Write(file, binary))
return false;
Ks.emplace_back(K);
cams.emplace_back(cam);
}
}
// create images list
COLMAP::Images images;
CameraArr cameras;
float maxNumPointsSparse(0);
const float avgViewsPerPoint(3.f);
const uint32_t avgResolutionSmallView(640*480), avgResolutionLargeView(6000*4000);
const uint32_t avgPointsPerSmallView(3000), avgPointsPerLargeView(12000);
{
images.resize(scene.images.size());
cameras.resize((unsigned)scene.images.size());
for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
const Interface::Image& image = scene.images[ID];
if (image.poseID == NO_ID)
continue;
const Interface::Platform& platform = scene.platforms[image.platformID];
const Interface::Platform::Pose& pose = platform.poses[image.poseID];
ASSERT(image.cameraID == 0);
COLMAP::Image& img = images[ID];
img.ID = ID;
img.q = Eigen::Quaterniond(Eigen::Map<const EMat33d>(pose.R.val));
img.t = -(img.q * Eigen::Map<const EVec3d>(&pose.C.x));
img.idCamera = image.platformID;
img.name = MAKE_PATH_REL(OPT::strImageFolder, MAKE_PATH_FULL(WORKING_FOLDER_FULL, image.name));
Camera& camera = cameras[ID];
camera.K = Ks[image.platformID];
camera.R = pose.R;
camera.C = pose.C;
camera.ComposeP();
const COLMAP::Camera& cam = cams[image.platformID];
const uint32_t resolutionView(cam.width*cam.height);
const float linearFactor(float(avgResolutionLargeView-resolutionView)/(avgResolutionLargeView-avgResolutionSmallView));
maxNumPointsSparse += (avgPointsPerSmallView+(avgPointsPerLargeView-avgPointsPerSmallView)*linearFactor)/avgViewsPerPoint;
}
}
// auto-select dense or sparse mode based on number of points
const bool bSparsePointCloud(scene.vertices.size() < (size_t)maxNumPointsSparse);
if (bSparsePointCloud || bForceSparsePointCloud) {
// write points list
{
const String filenamePoints(strFolder+(binary?COLMAP_POINTS_BIN:COLMAP_POINTS_TXT));
LOG_OUT() << "Writing points: " << filenamePoints << std::endl;
std::ofstream file(filenamePoints, binary ? std::ios::trunc|std::ios::binary : std::ios::trunc);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenamePoints.c_str());
return false;
}
uint64_t numPoints3D = 0;
if (binary) {
numPoints3D = scene.vertices.size();
} else {
file << _T("# 3D point list with one line of data per point:") << std::endl;
file << _T("# POINT3D_ID, X, Y, Z, R, G, B, ERROR, TRACK[] as (IMAGE_ID, POINT2D_IDX)") << std::endl;
}
for (uint32_t ID=0; ID<(uint32_t)scene.vertices.size(); ++ID) {
const Interface::Vertex& vertex = scene.vertices[ID];
COLMAP::Point point;
point.ID = ID;
point.p = vertex.X;
for (const Interface::Vertex::View& view: vertex.views) {
COLMAP::Image& img = images[view.imageID];
point.tracks.emplace_back(COLMAP::Point::Track{view.imageID, (uint32_t)img.projs.size()});
COLMAP::Image::Proj proj;
proj.idPoint = ID;
const Point3 X(vertex.X);
ProjectVertex_3x4_3_2(cameras[view.imageID].P.val, X.ptr(), proj.p.data());
// account for different pixel center conventions as COLMAP uses pixel center at (0.5,0.5)
proj.p[0] += REAL(0.5);
proj.p[1] += REAL(0.5);
img.projs.emplace_back(proj);
}
point.c = scene.verticesColor.empty() ? Interface::Col3(255,255,255) : scene.verticesColor[ID].c;
point.e = 0;
if (numPoints3D != 0) {
point.numPoints3D = numPoints3D;
numPoints3D = 0;
}
if (!point.Write(file, binary))
return false;
}
}
Util::ensureFolder(strFolder+COLMAP_STEREO_FOLDER);
// write fusion list
{
const String filenameFusion(strFolder+COLMAP_FUSION);
LOG_OUT() << "Writing fusion configuration: " << filenameFusion << std::endl;
std::ofstream file(filenameFusion);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenameFusion.c_str());
return false;
}
for (const COLMAP::Image& img: images) {
if (img.projs.empty())
continue;
file << img.name << std::endl;
if (file.fail())
return false;
}
}
// write patch-match list
{
const String filenameFusion(strFolder+COLMAP_PATCHMATCH);
LOG_OUT() << "Writing patch-match configuration: " << filenameFusion << std::endl;
std::ofstream file(filenameFusion);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenameFusion.c_str());
return false;
}
for (const COLMAP::Image& img: images) {
if (img.projs.empty())
continue;
file << img.name << std::endl;
if (file.fail())
return false;
file << _T("__auto__, 20") << std::endl;
if (file.fail())
return false;
}
}
Util::ensureFolder(strFolder+COLMAP_STEREO_CONSISTENCYGRAPHS_FOLDER);
Util::ensureFolder(strFolder+COLMAP_STEREO_DEPTHMAPS_FOLDER);
Util::ensureFolder(strFolder+COLMAP_STEREO_NORMALMAPS_FOLDER);
}
if (!bSparsePointCloud) {
// export dense point-cloud
const String filenameDensePoints(strFolder+COLMAP_DENSE_POINTS);
const String filenameDenseVisPoints(strFolder+COLMAP_DENSE_POINTS_VISIBILITY);
LOG_OUT() << "Writing points: " << filenameDensePoints << " and " << filenameDenseVisPoints << std::endl;
File file(filenameDenseVisPoints, File::WRITE, File::CREATE | File::TRUNCATE);
if (!file.isOpen()) {
VERBOSE("error: unable to write file '%s'", filenameDenseVisPoints.c_str());
return false;
}
const uint64_t numPoints(scene.vertices.size());
file.write(&numPoints, sizeof(uint64_t));
PointCloud pointcloud;
for (size_t i=0; i<numPoints; ++i) {
const Interface::Vertex& vertex = scene.vertices[i];
pointcloud.points.emplace_back(vertex.X);
if (!scene.verticesNormal.empty())
pointcloud.normals.emplace_back(scene.verticesNormal[i].n);
if (!scene.verticesColor.empty())
pointcloud.colors.emplace_back(scene.verticesColor[i].c);
const uint32_t numViews((uint32_t)vertex.views.size());
file.write(&numViews, sizeof(uint32_t));
for (uint32_t v=0; v<numViews; ++v) {
const Interface::Vertex::View& view = vertex.views[v];
file.write(&view.imageID, sizeof(uint32_t));
}
}
if (!pointcloud.Save(filenameDensePoints, false, true)) {
VERBOSE("error: unable to write file '%s'", filenameDensePoints.c_str());
return false;
}
}
// write images list
{
const String filenameImages(strFolder+(binary?COLMAP_IMAGES_BIN:COLMAP_IMAGES_TXT));
LOG_OUT() << "Writing images: " << filenameImages << std::endl;
std::ofstream file(filenameImages, binary ? std::ios::trunc|std::ios::binary : std::ios::trunc);
if (!file.good()) {
VERBOSE("error: unable to open file '%s'", filenameImages.c_str());
return false;
}
uint64_t numRegImages = 0;
if (binary) {
for (const COLMAP::Image& img: images) {
if (bSparsePointCloud && img.projs.empty())
continue;
++numRegImages;
}
} else {
file << _T("# Image list with two lines of data per image:") << std::endl;
file << _T("# IMAGE_ID, QW, QX, QY, QZ, TX, TY, TZ, CAMERA_ID, NAME") << std::endl;
file << _T("# POINTS2D[] as (X, Y, POINT3D_ID)") << std::endl;
}
for (COLMAP::Image& img: images) {
if (bSparsePointCloud && img.projs.empty())
continue;
if (numRegImages != 0) {
img.numRegImages = numRegImages;
numRegImages = 0;
}
if (!img.Write(file, binary))
return false;
}
}
return true;
}
// export camera intrinsics in txt format
bool ExportIntrinsicsTxt(const String& fileName, const Interface& scene)
{
LOG_OUT() << "Writing intrinsics: " << fileName << std::endl;
uint32_t idxValidK(NO_ID);
for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
const Interface::Image& image = scene.images[ID];
if (!image.IsValid())
continue;
if (idxValidK == NO_ID) {
idxValidK = ID;
continue;
}
if (scene.GetK(idxValidK) != scene.GetK(ID)) {
VERBOSE("error: multiple camera models");
return false;
}
}
if (idxValidK == NO_ID)
return false;
const Interface::Image& image = scene.images[idxValidK];
String imagefileName(image.name);
Util::ensureValidPath(imagefileName);
imagefileName = MAKE_PATH_FULL(WORKING_FOLDER_FULL, imagefileName);
IMAGEPTR pImage = Image::ReadImageHeader(imagefileName);
if (!pImage) {
VERBOSE("error: unable to open image file '%s'", imagefileName.c_str());
return false;
}
const Interface::Mat33d& K = scene.platforms[image.platformID].GetFullK(image.cameraID, pImage->GetWidth(), pImage->GetHeight());
Eigen::Matrix4d K4(Eigen::Matrix4d::Identity());
K4.topLeftCorner<3,3>() = Eigen::Map<const EMat33d>(K.val);
Util::ensureFolder(fileName);
std::ofstream out(fileName);
if (!out.good()) {
VERBOSE("error: unable to open file '%s'", fileName.c_str());
return false;
}
out << std::setprecision(12);
out << K4(0,0) << _T(" ") << K4(0,1) << _T(" ") << K4(0,2) << _T(" ") << K4(0,3) << _T("\n");
out << K4(1,0) << _T(" ") << K4(1,1) << _T(" ") << K4(1,2) << _T(" ") << K4(1,3) << _T("\n");
out << K4(2,0) << _T(" ") << K4(2,1) << _T(" ") << K4(2,2) << _T(" ") << K4(2,3) << _T("\n");
out << K4(3,0) << _T(" ") << K4(3,1) << _T(" ") << K4(3,2) << _T(" ") << K4(3,3) << _T("\n");
return !out.fail();
}
// export image poses in log format
// see: http://redwood-data.org/indoor/fileformat.html
// to support: https://www.tanksandtemples.org/tutorial
bool ExportImagesLog(const String& fileName, const Interface& scene)
{
LOG_OUT() << "Writing poses: " << fileName << std::endl;
Util::ensureFolder(fileName);
std::ofstream out(fileName);
if (!out.good()) {
VERBOSE("error: unable to open file '%s'", fileName.c_str());
return false;
}
out << std::setprecision(12);
IIndexArr orderedImages((uint32_t)scene.images.size());
std::iota(orderedImages.begin(), orderedImages.end(), 0u);
orderedImages.Sort([&scene](IIndex i, IIndex j) {
return scene.images[i].ID < scene.images[j].ID;
});
for (IIndex ID: orderedImages) {
const Interface::Image& image = scene.images[ID];
Eigen::Matrix3d R(Eigen::Matrix3d::Identity());
Eigen::Vector3d t(Eigen::Vector3d::Zero());
if (image.poseID != NO_ID) {
const Interface::Platform& platform = scene.platforms[image.platformID];
const Interface::Platform::Pose& pose = platform.poses[image.poseID];
R = Eigen::Map<const EMat33d>(pose.R.val).transpose();
t = Eigen::Map<const EVec3d>(&pose.C.x);
}
Eigen::Matrix4d T(Eigen::Matrix4d::Identity());
T.topLeftCorner<3,3>() = R;
T.topRightCorner<3,1>() = t;
out << ID << _T(" ") << ID << _T(" ") << 0 << _T("\n");
out << T(0,0) << _T(" ") << T(0,1) << _T(" ") << T(0,2) << _T(" ") << T(0,3) << _T("\n");
out << T(1,0) << _T(" ") << T(1,1) << _T(" ") << T(1,2) << _T(" ") << T(1,3) << _T("\n");
out << T(2,0) << _T(" ") << T(2,1) << _T(" ") << T(2,2) << _T(" ") << T(2,3) << _T("\n");
out << T(3,0) << _T(" ") << T(3,1) << _T(" ") << T(3,2) << _T(" ") << T(3,3) << _T("\n");
}
return !out.fail();
}
// export poses in Strecha camera format:
// Strecha model is P = K[R^T|-R^T t]
// our model is P = K[R|t], t = -RC
bool ExportImagesCamera(const String& pathName, const Interface& scene)
{
LOG_OUT() << "Writing poses: " << pathName << std::endl;
Util::ensureFolder(pathName);
for (uint32_t ID=0; ID<(uint32_t)scene.images.size(); ++ID) {
const Interface::Image& image = scene.images[ID];
String imageFileName(image.name);
Util::ensureValidPath(imageFileName);
const String fileName(pathName+Util::getFileNameExt(imageFileName)+".camera");
std::ofstream out(fileName);
if (!out.good()) {
VERBOSE("error: unable to open file '%s'", fileName.c_str());
return false;
}
out << std::setprecision(12);
KMatrix K(KMatrix::IDENTITY);
RMatrix R(RMatrix::IDENTITY);
CMatrix t(CMatrix::ZERO);
unsigned width(0), height(0);
if (image.platformID != NO_ID && image.cameraID != NO_ID) {
const Interface::Platform& platform = scene.platforms[image.platformID];
const Interface::Platform::Camera& camera = platform.cameras[image.cameraID];
if (camera.HasResolution()) {
width = camera.width;
height = camera.height;
K = camera.K;
} else {
IMAGEPTR pImage = Image::ReadImageHeader(image.name);
width = pImage->GetWidth();
height = pImage->GetHeight();
K = platform.GetFullK(image.cameraID, width, height);
}
if (image.poseID != NO_ID) {
const Interface::Platform::Pose& pose = platform.poses[image.poseID];
R = pose.R.t();
t = pose.C;
}
}
out << K(0,0) << _T(" ") << K(0,1) << _T(" ") << K(0,2) << _T("\n");
out << K(1,0) << _T(" ") << K(1,1) << _T(" ") << K(1,2) << _T("\n");
out << K(2,0) << _T(" ") << K(2,1) << _T(" ") << K(2,2) << _T("\n");
out << _T("0 0 0") << _T("\n");
out << R(0,0) << _T(" ") << R(0,1) << _T(" ") << R(0,2) << _T("\n");
out << R(1,0) << _T(" ") << R(1,1) << _T(" ") << R(1,2) << _T("\n");
out << R(2,0) << _T(" ") << R(2,1) << _T(" ") << R(2,2) << _T("\n");
out << t.x << _T(" ") << t.y << _T(" ") << t.z << _T("\n");
out << width << _T(" ") << height << _T("\n");
if (out.fail()) {
VERBOSE("error: unable to write file '%s'", fileName.c_str());
return false;
}
}
return true;
}
} // unnamed namespace
// Main function with command-line arguments
int main(int argc, LPCTSTR* argv)
{
#ifdef _DEBUGINFO
// set _crtBreakAlloc index to stop in <dbgheap.c> at allocation
_CrtSetDbgFlag(_CRTDBG_ALLOC_MEM_DF | _CRTDBG_LEAK_CHECK_DF);// | _CRTDBG_CHECK_ALWAYS_DF);
#endif
Application app; // Instance of the application
if (!app.Initialize(argc, argv)) // Initialize app with command line arguments
return EXIT_FAILURE; // Exit if initialization fails
TD_TIMER_START();
if (OPT::IsFromOpenMVS) {
// read MVS input data
Interface scene; // Scene data structure for MVS input
if (!ARCHIVE::SerializeLoad(scene, MAKE_PATH_SAFE(OPT::strInputFileName)))
return EXIT_FAILURE; // Exit if loading fails
// Check output file type and export accordingly
if (Util::getFileExt(OPT::strOutputFileName) == _T(".log")) {
// write poses in log format
ExportIntrinsicsTxt(MAKE_PATH_FULL(WORKING_FOLDER_FULL, String("intrinsics.txt")), scene);
ExportImagesLog(MAKE_PATH_SAFE(OPT::strOutputFileName), scene);
} else
if (Util::getFileExt(OPT::strOutputFileName) == _T(".camera")) {
// write poses in Strecha camera format
ExportImagesCamera((OPT::strOutputFileName=Util::getFileFullName(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputFileName)))+PATH_SEPARATOR, scene);
} else {
// write COLMAP input data
if (!OPT::strPointCloudFileName.empty() && !ImportPointCloud(MAKE_PATH_SAFE(OPT::strPointCloudFileName), scene))
return EXIT_FAILURE;
Util::ensureFolderSlash(OPT::strOutputFileName);
ExportScene(MAKE_PATH_SAFE(OPT::strOutputFileName), scene, OPT::bForceSparsePointCloud);
}
VERBOSE("Input data exported: %u images & %u vertices (%s)", scene.images.size(), scene.vertices.size(), TD_TIMER_GET_FMT().c_str());
} else {
// read COLMAP input data
Interface scene;
const String strOutFolder(Util::getFilePath(MAKE_PATH_FULL(WORKING_FOLDER_FULL, OPT::strOutputFileName)));
PointCloud pointcloud;
if (!ImportScene(MAKE_PATH_SAFE(OPT::strInputFileName), strOutFolder, scene, pointcloud))
return EXIT_FAILURE;
// write MVS input data
Util::ensureFolder(strOutFolder);
if (!ARCHIVE::SerializeSave(scene, MAKE_PATH_SAFE(OPT::strOutputFileName)))
return EXIT_FAILURE;
if (!pointcloud.IsEmpty() && !pointcloud.Save(MAKE_PATH_SAFE(Util::getFileFullName(OPT::strOutputFileName)) + _T(".ply"), true))
return EXIT_FAILURE;
VERBOSE("Exported data: %u images, %u points%s (%s)",
scene.images.size(), scene.vertices.size(), pointcloud.IsEmpty()?"":String::FormatString(", %d dense points", pointcloud.GetSize()).c_str(),
TD_TIMER_GET_FMT().c_str());
}
return EXIT_SUCCESS;
}
/*----------------------------------------------------------------*/