def extract(properties, *args, **kargs):
dirpath = bpy.path.abspath(properties.dirpath)
if not dirpath:
raise AttributeError(
'COLMAP Workspace Directory must be provided.\nCameras, images and points3D files must exist.'
)
# find the requisite files in either format
requisites = ['cameras', 'images', 'points3D']
extensions = ['.bin', '.txt', None]
for ext in extensions:
if not ext:
raise AttributeError(
'COLMAP Workspace Directory must contain:\ncameras, images and points3D files.\nThese files must be in either .BIN or .TXT format.'
)
elif len([
f for f in os.listdir(dirpath) for c in requisites
if f == f'{c}{ext}'
]) == 3:
# found the correct set of files with this extension
break
# check for a project.ini as it may contain an alternate image path setting
try:
# https://stackoverflow.com/a/25493615
with open(os.path.join(dirpath, 'project.ini'), 'r') as f:
config_string = f'[DEFAULT]\n{f.read()}'
config = ConfigParser()
config.read_string(config_string)
image_path = config['DEFAULT']['image_path']
except:
image_path = os.path.join(dirpath, '..', 'images')
cameras = {}
trackers = {}
data = {'trackers': trackers, 'cameras': cameras}
# https://colmap.github.io/format.html
try:
ccameras, images, points3D = read_model(dirpath, ext=ext)
except Exception as ex:
raise AttributeError(
f'Error when reading COLMAP workspace directory:\n{str(ex)}')
model = list(ccameras.values())[0]
resolution = (model.width, model.height)
data.setdefault('resolution', resolution)
def shift(co):
# COLMAP uses the convention that the upper left image corner has coordinate (0, 0)
# and the center of the upper left most pixel has coordinate (0.5, 0.5).
# Translate the point to the center of the image.
return (co[0] - resolution[0] / 2.0 + 0.5,
co[1] - resolution[1] / 2.0 + 0.5)
for idx, i in images.items():
camera = ccameras[i.camera_id]
f, cx, cy = parse_camera_param_list(camera)
filename = i.name.strip()
if not os.path.isabs(filename) or not os.path.isfile(filename):
filename = os.path.join(image_path, filename)
# The coordinates of the projection/camera center are given by -R^t * T,
# where R^t is the inverse/transpose of the 3x3 rotation matrix composed
# from the quaternion and T is the translation vector. The local camera
# coordinate system of an image is defined in a way that the X axis points
# to the right, the Y axis to the bottom, and the Z axis to the front as
# seen from the image.
R = Quaternion(i.qvec).to_matrix()
R.transpose()
# c = -R^T t
T = Vector(i.tvec)
c = -1 * R @ T
# t = -R * c
R.transpose()
R.rotate(Euler((pi, 0, 0)))
t = -1 * R @ c
cameras.setdefault(
idx, {
'filename': filename,
'f': f,
'k': (0, 0, 0),
't': tuple(t),
'principal': (cx, cy),
'R': tuple(map(tuple, tuple(R))),
'trackers': {
i.point3D_ids[tidx]: shift(i.xys[tidx])
for tidx in range(len(i.xys)) if i.point3D_ids[tidx] >= 0
},
})
for idx, p in points3D.items():
trackers.setdefault(idx, {
'co': tuple(p.xyz),
'rgb': tuple(p.rgb),
'error': p.error,
})
return data
def extract(properties, *args, **kargs):
dirpath = bpy.path.abspath(properties.dirpath)
# find the requisite files in either format
requisites = ['cameras', 'images', 'points3D']
extensions = ['.bin', '.txt']
files = [
f for f in os.listdir(dirpath) for c in requisites if f.startswith(c)
]
ext = set(extensions).intersection(
[os.path.splitext(r)[1].lower() for r in files])
if len(files) != 3 or len(ext) != 1:
raise Exception(
'COLMAP sparse reconstruction must contain a cameras, images and points3D file in .BIN or .TXT format'
)
# check for a project.ini as it may contain an alternate image path setting
try:
# https://stackoverflow.com/a/25493615
with open(os.path.join(dirpath, 'project.ini'), 'r') as f:
config_string = f'[DEFAULT]\n{f.read()}'
config = ConfigParser()
config.read_string(config_string)
image_path = config['DEFAULT']['image_path']
except:
image_path = dirpath
cameras = {}
trackers = {}
data = {'trackers': trackers, 'cameras': cameras}
# https://colmap.github.io/format.html
ccameras, images, points3D = read_model(dirpath, ext=ext.pop())
model = list(ccameras.values())[0]
resolution = (model.width, model.height)
data.setdefault('resolution', resolution)
for idx, i in images.items():
camera = ccameras[i.camera_id]
f, cx, cy = parse_camera_param_list(camera)
filename = i.name.strip()
if not os.path.isabs(filename) or not os.path.isfile(filename):
filename = os.path.join(image_path, filename)
# The coordinates of the projection/camera center are given by -R^t * T,
# where R^t is the inverse/transpose of the 3x3 rotation matrix composed
# from the quaternion and T is the translation vector. The local camera
# coordinate system of an image is defined in a way that the X axis points
# to the right, the Y axis to the bottom, and the Z axis to the front as
# seen from the image.
R = Quaternion(i.qvec).to_matrix()
R.transpose()
# c = -R^T t
T = Vector(i.tvec)
c = -1 * R @ T
# t = -R * c
R.transpose()
R.rotate(Euler((pi, 0, 0)))
t = -1 * R @ c
cameras.setdefault(
idx, {
'filename': filename,
'f': f,
'k': (0, 0, 0),
't': tuple(t),
'principal': (cx, cy),
'R': tuple(map(tuple, tuple(R))),
'trackers': {},
})
for idx, p in points3D.items():
trackers.setdefault(idx, {'co': tuple(p.xyz), 'rgb': tuple(p.rgb)})
# COLMAP uses the convention that the upper left image corner has coordinate (0, 0)
# and the center of the upper left most pixel has coordinate (0.5, 0.5).
for image_idx, image_id in enumerate(p.image_ids):
# COLMAP db format allows more dimensions, but sparse file format may not reperesent it
# to be safe, truncated coords to 2 dimensions
co = list(images[image_id].xys[p.point2D_idxs[image_idx]])[:2]
co[0] = co[0] - resolution[0] / 2.0 + 0.5
co[1] = co[1] - resolution[1] / 2.0 + 0.5
cameras[p.image_ids[0]]['trackers'].setdefault(idx, co)
return data
