Ejemplo n.º 1
0
    def mergeOneModel(self, model1, model2, reconParam, reconBOWParam):

        sfmOutPath = os.path.join(self.mSfMPath,
                                  "global" + str(self.nMergedModel))

        # modified by T. IShihara 2016.06.14
        # fix file name too long issue
        #
        # create a temporary folder for reconstructed image of model2
        #inputImgTmpFolder = os.path.join(self.mSfMPath,"inputImgTmp","inputImgTmp"+model2.name)
        inputImgTmpFolder = os.path.join(self.mSfMPath, "inputImgTmp",
                                         "inputImgTmpModel2")
        if os.path.isdir(inputImgTmpFolder):
            FileUtils.removedir(inputImgTmpFolder)

        # copy reconstructed image fom model2 to tmp folder
        sfm_data2 = FileUtils.loadjson(model2.sfm_dataLoc)
        if not os.path.isdir(inputImgTmpFolder):
            listReconFrameName = [
                sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]
                ["filename"] for x in range(0, len(sfm_data2["views"]))
                if sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]
                ["id_view"] in model2.reconFrame
            ]
            FileUtils.makedir(inputImgTmpFolder)
            for reconFrameName in listReconFrameName:
                os.system("cp -s " +
                          os.path.join(model2.imgFolLoc, reconFrameName) +
                          " " + inputImgTmpFolder)

        # remove all old localization result
        FileUtils.removedir(model2.locFolLoc)
        FileUtils.makedir(model2.locFolLoc)

        # localize the images from model2 on model1
        guideMatchOption = ""
        if reconParam.bGuidedMatchingLocalize:
            guideMatchOption = " -gm"
        os.system(reconParam.LOCALIZE_PROJECT_PATH + \
                  " " + inputImgTmpFolder + \
                  " " + os.path.dirname(model1.sfm_dataLoc) + \
                  " " + self.mMatchesPath + \
                  " " + model2.locFolLoc + \
                  " -f=" + str(reconParam.locFeatDistRatio) + \
                  " -r=" + str(reconParam.locRansacRound) + \
                  " -i=" + str(reconParam.locSkipFrame) + \
                  " -k=" + str(reconBOWParam.locKNNnum) + \
                  " -a=" + os.path.join(self.mMatchesPath, "BOWfile.yml") + \
                  " -p=" + os.path.join(self.mMatchesPath, "PCAfile.yml") + \
                  guideMatchOption)

        # remove temporary image folder
        # removedir(inputImgTmpFolder)

        # extract centers from all json file and write to a file
        fileLoc = open(os.path.join(model2.locFolLoc, "center.txt"), "w")
        countLocFrame = 0
        for filename in sorted(os.listdir(model2.locFolLoc)):
            if filename[-4:] != "json":
                continue

            countLocFrame = countLocFrame + 1
            with open(os.path.join(model2.locFolLoc, filename)) as locJson:
                #print os.path.join(sfm_locOut,filename)
                locJsonDict = json.load(locJson)
                loc = locJsonDict["t"]
                fileLoc.write(
                    str(loc[0]) + " " + str(loc[1]) + " " + str(loc[2]) +
                    " 255 0 0\n")
        fileLoc.close()

        # get inlier matches
        FileUtils.makedir(sfmOutPath)
        resultSfMDataFile = os.path.join(sfmOutPath, "sfm_data.json")
        # below also checks if the ratio between first and last svd of M[0:3,0:3]
        # is good or not. If not then reject
        # TODO : revisit ransacRound parameter, use number of reconstruction frame to determine structure points transform seems small
        nMatchPointsTmp, nInlierTmp, M = mergeSfM.mergeModel(
            model1.sfm_dataLoc,
            model2.sfm_dataLoc,
            model2.locFolLoc,
            resultSfMDataFile,
            ransacThres=model1.ransacStructureThres,
            mergePointThres=model1.mergeStructureThres,
            ransacRoundMul=reconParam.ransacRoundMul,
            inputImgDir=self.mInputImgPath,
            minLimit=reconParam.min3DnInliers)

        ratioInlierMatchPoints = 0.0
        if nMatchPointsTmp > 0:
            ratioInlierMatchPoints = float(nInlierTmp) / nMatchPointsTmp

        # 3. perform test whether merge is good
        sfm_merge_generated = True
        countFileAgree = 0
        countFileLoc = 1
        if os.path.isfile(resultSfMDataFile):
            os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " +
                      resultSfMDataFile + " " + resultSfMDataFile)
            countFileLoc, countFileAgree = mergeSfM.modelMergeCheckLocal(
                resultSfMDataFile, model2.locFolLoc,
                model1.validMergeRansacThres)
        else:
            sfm_merge_generated = False

        ratioAgreeFrameReconFrame = 0.0
        if (len(model2.reconFrame) > 0):
            ratioAgreeFrameReconFrame = float(countFileAgree) / len(
                model2.reconFrame)
        ratioAgreeFrameLocFrame = 0.0
        if (countFileLoc > 0):
            ratioAgreeFrameLocFrame = float(countFileAgree) / countFileLoc

        # write log file
        with open(
                os.path.join(self.mSfMPath, "global" + str(self.nMergedModel),
                             "log.txt"), "a") as filelog:
            filelog.write(("M1: " + model1.name + "\n" + \
                          "M2: " + model2.name + "\n" + \
                          "nMatchedPoints: " + str(nMatchPointsTmp) + "\n" + \
                          "nInliers: " + str(nInlierTmp) + "\n" + \
                          "ratioInlierWithMatchedPoints: " + str(ratioInlierMatchPoints) + "\n" + \
                          "countLocFrame: " + str(countLocFrame) + "\n" + \
                          "nReconFrame M2: " + str(len(model2.reconFrame)) + "\n" + \
                          "countFileAgree: " + str(countFileAgree) + "\n" + \
                          "countFileLoc: " + str(countFileLoc) + "\n" + \
                          "not sfm_merge_generated: " + str(not sfm_merge_generated) + "\n" + \
                          # obsolete condition by T. Ishihara 2015.11.10
                          #"nInlierTmp > "+str(reconParam.vldMergeRatioInliersFileagree)+"*countFileAgree: " + str(nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree) + "\n" + \
                          "countFileAgree > "+str(reconParam.vldMergeMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeMinCountFileAgree) + "\n" + \
                          # obsolete condition by T. Ishihara 2016.04.02
                          #"countFileAgree > "+str(reconParam.vldMergeSmallMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeSmallMinCountFileAgree) + "\n" + \
                          # obsolete condition by T. Ishihara 2016.04.02
                          #"countFileLoc < countFileAgree*" +str(reconParam.vldMergeShortRatio)+ ": " + str(countFileLoc < countFileAgree*reconParam.vldMergeShortRatio) + "\n" + \
                          "ratioLocAgreeWithReconFrame: " + str(ratioAgreeFrameReconFrame) + "\n" + \
                          "ratioLocAgreeWithReconFrame > " + str(reconParam.vldMergeRatioAgrFReconF) + ": " + str(ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) + "\n" + \
                          "ratioLocAgreeWithLocFrame: " + str(ratioAgreeFrameLocFrame) + "\n" + \
                          "ratioLocAgreeWithLocFrame > " + str(reconParam.vldMergeRatioAgrFLocF) + ": " + str(ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF) + "\n" + \
                          str(M) + "\n\n"))

        # rename the localization folder to save localization result
        '''
        if os.path.isdir(model2.locFolLoc+model1.name):
            FileUtils.removedir(model2.locFolLoc+model1.name)
        os.rename(model2.locFolLoc,model2.locFolLoc+model1.name)
        '''

        # obsolete merge condition
        '''
        if not sfm_merge_generated or \
            not (nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree and \
            ((countFileAgree > reconParam.vldMergeMinCountFileAgree or (countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and countFileLoc < countFileAgree*reconParam.vldMergeShortRatio)) and \
            ((nInlierTmp > reconParam.vldMergeNInliers and float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconFNInliers) or float(countFileAgree)/countFileLoc > reconParam.vldMergeRatioAgrFLocF) and
            (float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconF))):
        '''
        # update merge condition by T. Ishihara 2015.11.10
        '''
        if not sfm_merge_generated or \
            not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
                 countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and \
                 countFileLoc < countFileAgree*reconParam.vldMergeShortRatio and \
                 ((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
                    ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
                 ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
        '''
        # update merge condition by T. Ishihara 2016.04.02
        '''
        if not sfm_merge_generated or \
            not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
                 ((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
                    ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
                 ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
        '''
        # update merge condition by T. Ishihara 2016.06.09
        '''
        if not sfm_merge_generated or \
            not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
                 ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF and \
                 nInlierTmp > reconParam.min3DnInliers and \
                 ratioInlierMatchPoints > reconParam.vldMergeRatioInliersMatchPoints):
        '''
        # update merge condition by T. Ishihara 2016.06.20
        if not sfm_merge_generated or \
            not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
                 ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF and \
                 nInlierTmp > reconParam.min3DnInliers):
            print "Transformed locations do not agree with localization. Skip merge between " + model1.name + " and " + model2.name + "."
            '''
            if os.path.isfile(os.path.join(sfmOutPath,"sfm_data.json")):
                os.rename(os.path.join(sfmOutPath,"sfm_data.json"), \
                          os.path.join(sfmOutPath,"sfm_data_("+model1.name + "," + model2.name+").json"))
            '''
            if os.path.isfile(os.path.join(sfmOutPath, "sfm_data.json")):
                os.rename(os.path.join(sfmOutPath,"sfm_data.json"), \
                          os.path.join(sfmOutPath,"sfm_data_fail_merge.json"))

            # move to next video
            return False, sfmModelBOW("",
                                      "",
                                      "",
                                      "",
                                      "",
                                      "",
                                      validMergeRansacThres=0,
                                      validMergeRansacThresK=0,
                                      ransacStructureThres=0,
                                      ransacStructureThresK=0,
                                      mergeStructureThres=0,
                                      mergeStructureThresK=0)

        # generate colorized before bundle adjustment for comparison
        os.system("openMVG_main_ComputeSfM_DataColor " + " -i " +
                  os.path.join(sfmOutPath, "sfm_data.json") + " -o " +
                  os.path.join(sfmOutPath, "colorized_pre.ply"))

        # TODO : try computing structure from know pose here
        # https://github.com/openMVG/openMVG/issues/246
        # http://openmvg.readthedocs.io/en/latest/software/SfM/ComputeStructureFromKnownPoses/

        # TODO : revisit the order of bundle adjustment
        # perform bundle adjustment
        '''
        os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
                  " -c=" + "rs,rst,rsti" + " -r=" + "1")
        '''
        os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
                  " -c=" + "rst,rsti" + " -r=" + "1")

        os.system("openMVG_main_ComputeSfM_DataColor " + " -i " +
                  os.path.join(sfmOutPath, "sfm_data.json") + " -o " +
                  os.path.join(sfmOutPath, "colorized.ply"))

        return True, sfmModelBOW(
            "A" + model1.name + "," + model2.name + "Z",
            self.mInputImgPath,
            self.mCsvPath,
            self.mMatchesPath,
            os.path.join(sfmOutPath, "loc"),
            resultSfMDataFile,
            validMergeRansacThres=model1.validMergeRansacThres,
            ransacStructureThres=model1.ransacStructureThres,
            mergeStructureThres=model1.mergeStructureThres)
Ejemplo n.º 2
0
    def mergeOneModel(self, model1, model2, reconParam):
        
        sfmOutPath = os.path.join(self.mSfMPath,"global"+str(self.nMergedModel))
        
        # create a temporary folder for reconstructed image of model2
        inputImgTmpFolder = os.path.join(self.mSfMPath,"inputImgTmp","inputImgTmp"+model2.name)
                
        # copy reconstructed image fom model2 to tmp folder
        sfm_data2 = FileUtils.loadjson(model2.sfm_dataLoc)
        if not os.path.isdir(inputImgTmpFolder):
            listReconFrameName = [sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]["filename"] for x in range(0,len(sfm_data2["views"])) if sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]["id_view"] in model2.reconFrame]
            FileUtils.makedir(inputImgTmpFolder)
            for reconFrameName in listReconFrameName:
                os.system("cp -s " + os.path.join(model2.imgFolLoc,reconFrameName) + " " + inputImgTmpFolder)
        
        
        # remove all old localization result
        FileUtils.removedir(model2.locFolLoc) 
        FileUtils.makedir(model2.locFolLoc)

        # localize the images from model2 on model1
        os.system(reconParam.LOCALIZE_PROJECT_PATH + \
                  " " + inputImgTmpFolder + \
                  " " + os.path.dirname(model1.sfm_dataLoc) + \
                  " " + self.mMatchesPath + \
                  " " + model2.locFolLoc + \
                  " -f=" + str(reconParam.locFeatDistRatio) + \
                  " -r=" + str(reconParam.locRansacRound) + \
                  " -e=" + model2.csvFolLoc + \
                  " -i=" + str(reconParam.locSkipFrame))
                  
        # remove temporary image folder
        # removedir(inputImgTmpFolder)
        
        # extract centers from all json file and write to a file
        fileLoc = open(os.path.join(model2.locFolLoc,"center.txt"),"w")
        countLocFrame = 0
        for filename in sorted(os.listdir(model2.locFolLoc)):
            if filename[-4:]!="json":
                continue
            
            countLocFrame = countLocFrame + 1
            with open(os.path.join(model2.locFolLoc,filename)) as locJson:
                #print os.path.join(sfm_locOut,filename)
                locJsonDict = json.load(locJson)
                loc = locJsonDict["t"]
                fileLoc.write(str(loc[0]) + " "  + str(loc[1]) + " "  +str(loc[2]) + " 255 0 0\n" )   
        fileLoc.close() 
        
        # get inlier matches
        FileUtils.makedir(sfmOutPath)
        resultSfMDataFile = os.path.join(sfmOutPath,"sfm_data.json")
        # below also checks if the ratio between first and last svd of M[0:3,0:3] 
        # is good or not. If not then reject
        nInlierTmp, M = mergeSfM.mergeModel(model1.sfm_dataLoc,
                            model2.sfm_dataLoc,
                            model2.locFolLoc,
                            resultSfMDataFile,
                            ransacK=reconParam.ransacStructureThresMul,
                            ransacRound=reconParam.ransacRoundMul*len(model1.reconFrame),
                            inputImgDir=self.mInputImgPath,
                            minLimit=reconParam.min3DnInliers) 

        # 3. perform test whether merge is good
        sfm_merge_generated = True
        countFileAgree = 0
        countFileLoc = 1
        if os.path.isfile(resultSfMDataFile):
            os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + resultSfMDataFile + " " + resultSfMDataFile)
            countFileLoc, countFileAgree = mergeSfM.modelMergeCheckLocal(resultSfMDataFile, model2.locFolLoc, reconParam.vldMergeAgrFrameThresK)
        else:
            sfm_merge_generated = False
        
        ratioAgreeFrameReconFrame = 0.0
        if (len(model2.reconFrame)>0):
            ratioAgreeFrameReconFrame = float(countFileAgree)/len(model2.reconFrame)
        ratioAgreeFrameLocFrame = 0.0
        if (countFileLoc>0):
            ratioAgreeFrameLocFrame = float(countFileAgree)/countFileLoc
        
        # write log file
        with open(os.path.join(self.mSfMPath,"global"+str(self.nMergedModel),"log.txt"),"a") as filelog:
            filelog.write(("M1: " + model1.name + "\n" + \
                          "M2: " + model2.name + "\n" + \
                          "nInliers: " + str(nInlierTmp) + "\n" + \
                          "countLocFrame: " + str(countLocFrame) + "\n" + \
                          "nReconFrame M2: " + str(len(model2.reconFrame)) + "\n" + \
                          "countFileAgree: " + str(countFileAgree) + "\n" + \
                          "countFileLoc: " + str(countFileLoc) + "\n" + \
                          "not sfm_merge_generated: " + str(not sfm_merge_generated) + "\n" + \
                          # obsolete condition by T. Ishihara 2015.11.10
                          #"nInlierTmp > "+str(reconParam.vldMergeRatioInliersFileagree)+"*countFileAgree: " + str(nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree) + "\n" + \
                          "countFileAgree > "+str(reconParam.vldMergeMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeMinCountFileAgree) + "\n" + \
                          # obsolete condition by T. Ishihara 2016.04.02
                          #"countFileAgree > "+str(reconParam.vldMergeSmallMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeSmallMinCountFileAgree) + "\n" + \
                          # obsolete condition by T. Ishihara 2016.04.02                          
                          #"countFileLoc < countFileAgree*" +str(reconParam.vldMergeShortRatio)+ ": " + str(countFileLoc < countFileAgree*reconParam.vldMergeShortRatio) + "\n" + \
                          "ratioLocAgreeWithReconFrame: " + str(ratioAgreeFrameReconFrame) + "\n" + \
                          "ratioLocAgreeWithReconFrame > " + str(reconParam.vldMergeRatioAgrFReconF) + ": " + str(ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) + "\n" + \
                          "ratioLocAgreeWithLocFrame: " + str(ratioAgreeFrameLocFrame) + "\n" + \
                          "ratioLocAgreeWithLocFrame > " + str(reconParam.vldMergeRatioAgrFLocF) + ": " + str(ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF) + "\n" + \
                          str(M) + "\n\n"))
       
        # rename the localization folder to save localization result
        if os.path.isdir(model2.locFolLoc+model1.name):
            FileUtils.removedir(model2.locFolLoc+model1.name)
        os.rename(model2.locFolLoc,model2.locFolLoc+model1.name)

        # obsolete merge condition
        '''
        if not sfm_merge_generated or \
            not (nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree and \
            ((countFileAgree > reconParam.vldMergeMinCountFileAgree or (countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and countFileLoc < countFileAgree*reconParam.vldMergeShortRatio)) and \
            ((nInlierTmp > reconParam.vldMergeNInliers and float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconFNInliers) or float(countFileAgree)/countFileLoc > reconParam.vldMergeRatioAgrFLocF) and
            (float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconF))):
        '''
        # update merge condition by T. Ishihara 2015.11.10
        '''
        if not sfm_merge_generated or \
            not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
                 countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and \
                 countFileLoc < countFileAgree*reconParam.vldMergeShortRatio and \
                 ((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
                    ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
                 ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
        '''
        # update merge condition by T. Ishihara 2016.04.02
        if not sfm_merge_generated or \
            not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
                 ((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
                    ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
                 ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
            print "Transformed locations do not agree with localization. Skip merge between " + model1.name + " and " + model2.name + "."
                    
            if os.path.isfile(os.path.join(sfmOutPath,"sfm_data.json")):
                os.rename(os.path.join(sfmOutPath,"sfm_data.json"), \
                          os.path.join(sfmOutPath,"sfm_data_("+model1.name + "," + model2.name+").json"))
                               
            # move to next video
            return False, sfmModel("","","","","","")
                
        # generate colorized before bundle adjustment for comparison
        os.system("openMVG_main_ComputeSfM_DataColor " +
            " -i " + os.path.join(sfmOutPath,"sfm_data.json") +
            " -o " + os.path.join(sfmOutPath,"colorized_pre.ply"))        
                
        # perform bundle adjustment
        # modified by T.Ishihara 2016.04.08
        # fix only translation at first
        '''
        os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
                  " -c=" + "rs,rst,rsti" + " -r=" + "1")
        '''
        os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
                  " -c=" + "st,rst,rsti" + " -r=" + "1")
        
        os.system("openMVG_main_ComputeSfM_DataColor " +
            " -i " + os.path.join(sfmOutPath,"sfm_data.json") +
            " -o " + os.path.join(sfmOutPath,"colorized.ply"))
        
        return True, sfmModel("A" + model1.name + "," + model2.name +"Z", self.mInputImgPath, self.mCsvPath, self.mMatchesPath, os.path.join(sfmOutPath,"loc"), resultSfMDataFile)
Ejemplo n.º 3
0
    def mergeOneModel(self, model1, model2, reconParam, reconIBeaconParam, reconBOWParam):
        
        sfmOutPath = os.path.join(self.mSfMPath,"global"+str(self.nMergedModel))
        
        # modified by T. IShihara 2016.06.14
        # fix file name too long issue
        # 
        # create a temporary folder for reconstructed image of model2
        #inputImgTmpFolder = os.path.join(self.mSfMPath,"inputImgTmp","inputImgTmp"+model2.name)        
        inputImgTmpFolder = os.path.join(self.mSfMPath,"inputImgTmp","inputImgTmpModel2")
        if os.path.isdir(inputImgTmpFolder):
            FileUtils.removedir(inputImgTmpFolder)
        
        # copy reconstructed image fom model2 to tmp folder
        sfm_data2 = FileUtils.loadjson(model2.sfm_dataLoc)
        if not os.path.isdir(inputImgTmpFolder):
            listReconFrameName = [sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]["filename"] for x in range(0,len(sfm_data2["views"])) if sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]["id_view"] in model2.reconFrame]
            FileUtils.makedir(inputImgTmpFolder)
            for reconFrameName in listReconFrameName:
                os.system("cp -s " + os.path.join(model2.imgFolLoc,reconFrameName) + " " + inputImgTmpFolder)
        
        
        # remove all old localization result
        FileUtils.removedir(model2.locFolLoc) 
        FileUtils.makedir(model2.locFolLoc)

        # localize the images from model2 on model1
        if self.useBow:
            os.system(reconIBeaconParam.LOCALIZE_PROJECT_PATH + \
                      " " + inputImgTmpFolder + \
                      " " + os.path.dirname(model1.sfm_dataLoc) + \
                      " " + self.mMatchesPath + \
                      " " + model2.locFolLoc + \
                      " -f=" + str(reconParam.locFeatDistRatio) + \
                      " -r=" + str(reconParam.locRansacRound) + \
                      " -b=" + model1.beaconFileLoc + \
                      " -e=" + model2.csvFolLoc + \
                      " -k=" + str(reconIBeaconParam.locKNNnum) + \
                      " -c=" + str(reconIBeaconParam.coocThres) + \
                      " -i=" + str(reconParam.locSkipFrame) + \
                      " -v=" + str(reconIBeaconParam.locSkipSelKNN) + \
                      " -n=" + str(reconIBeaconParam.normApproach) + \
                      " -kb=" + str(reconBOWParam.locKNNnum) + \
                      " -a=" + os.path.join(self.mMatchesPath, "BOWfile.yml") + \
                      " -p=" + os.path.join(self.mMatchesPath, "PCAfile.yml"))                                  
        else:
            os.system(reconIBeaconParam.LOCALIZE_PROJECT_PATH + \
                      " " + inputImgTmpFolder + \
                      " " + os.path.dirname(model1.sfm_dataLoc) + \
                      " " + self.mMatchesPath + \
                      " " + model2.locFolLoc + \
                      " -f=" + str(reconParam.locFeatDistRatio) + \
                      " -r=" + str(reconParam.locRansacRound) + \
                      " -b=" + model1.beaconFileLoc + \
                      " -e=" + model2.csvFolLoc + \
                      " -k=" + str(reconIBeaconParam.locKNNnum) + \
                      " -c=" + str(reconIBeaconParam.coocThres) + \
                      " -i=" + str(reconParam.locSkipFrame) + \
                      " -v=" + str(reconIBeaconParam.locSkipSelKNN) + \
                      " -n=" + str(reconIBeaconParam.normApproach))
                  
        # remove temporary image folder
        # removedir(inputImgTmpFolder)
        
        # extract centers from all json file and write to a file
        fileLoc = open(os.path.join(model2.locFolLoc,"center.txt"),"w")
        countLocFrame = 0
        for filename in sorted(os.listdir(model2.locFolLoc)):
            if filename[-4:]!="json":
                continue
            
            countLocFrame = countLocFrame + 1
            with open(os.path.join(model2.locFolLoc,filename)) as locJson:
                #print os.path.join(sfm_locOut,filename)
                locJsonDict = json.load(locJson)
                loc = locJsonDict["t"]
                fileLoc.write(str(loc[0]) + " "  + str(loc[1]) + " "  +str(loc[2]) + " 255 0 0\n" )   
        fileLoc.close() 
        
        # get inlier matches
        FileUtils.makedir(sfmOutPath)
        resultSfMDataFile = os.path.join(sfmOutPath,"sfm_data.json")
        # below also checks if the ratio between first and last svd of M[0:3,0:3] 
        # is good or not. If not then reject
        # TODO : revisit ransacRound parameter, use number of reconstruction frame to determine structure points transform seems small
        nMatchPointsTmp, nInlierTmp, M = mergeSfM.mergeModel(model1.sfm_dataLoc,
                            model2.sfm_dataLoc,
                            model2.locFolLoc,
                            resultSfMDataFile,
                            ransacThres=model1.ransacStructureThres,
                            mergePointThres=model1.mergeStructureThres,
                            ransacRoundMul=reconParam.ransacRoundMul,
                            inputImgDir=self.mInputImgPath,
                            minLimit=reconParam.min3DnInliers)
        
        ratioInlierMatchPoints = 0.0
        if nMatchPointsTmp>0:
            ratioInlierMatchPoints = float(nInlierTmp)/nMatchPointsTmp
        
        # 3. perform test whether merge is good
        sfm_merge_generated = True
        countFileAgree = 0
        countFileLoc = 1
        if os.path.isfile(resultSfMDataFile):
            os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + resultSfMDataFile + " " + resultSfMDataFile)
            countFileLoc, countFileAgree = mergeSfM.modelMergeCheckLocal(resultSfMDataFile, model2.locFolLoc, model1.validMergeRansacThres)
        else:
            sfm_merge_generated = False
        
        ratioAgreeFrameReconFrame = 0.0
        if (len(model2.reconFrame)>0):
            ratioAgreeFrameReconFrame = float(countFileAgree)/len(model2.reconFrame)
        ratioAgreeFrameLocFrame = 0.0
        if (countFileLoc>0):
            ratioAgreeFrameLocFrame = float(countFileAgree)/countFileLoc
        
        # write log file
        with open(os.path.join(self.mSfMPath,"global"+str(self.nMergedModel),"log.txt"),"a") as filelog:
            filelog.write(("M1: " + model1.name + "\n" + \
                          "M2: " + model2.name + "\n" + \
                          "nMatchedPoints: " + str(nMatchPointsTmp) + "\n" + \
                          "nInliers: " + str(nInlierTmp) + "\n" + \
                          "ratioInlierWithMatchedPoints: " + str(ratioInlierMatchPoints) + "\n" + \
                          "countLocFrame: " + str(countLocFrame) + "\n" + \
                          "nReconFrame M2: " + str(len(model2.reconFrame)) + "\n" + \
                          "countFileAgree: " + str(countFileAgree) + "\n" + \
                          "countFileLoc: " + str(countFileLoc) + "\n" + \
                          "not sfm_merge_generated: " + str(not sfm_merge_generated) + "\n" + \
                          # obsolete condition by T. Ishihara 2015.11.10
                          #"nInlierTmp > "+str(reconParam.vldMergeRatioInliersFileagree)+"*countFileAgree: " + str(nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree) + "\n" + \
                          "countFileAgree > "+str(reconParam.vldMergeMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeMinCountFileAgree) + "\n" + \
                          # obsolete condition by T. Ishihara 2016.04.02
                          #"countFileAgree > "+str(reconParam.vldMergeSmallMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeSmallMinCountFileAgree) + "\n" + \
                          # obsolete condition by T. Ishihara 2016.04.02
                          #"countFileLoc < countFileAgree*" +str(reconParam.vldMergeShortRatio)+ ": " + str(countFileLoc < countFileAgree*reconParam.vldMergeShortRatio) + "\n" + \
                          "ratioLocAgreeWithReconFrame: " + str(ratioAgreeFrameReconFrame) + "\n" + \
                          "ratioLocAgreeWithReconFrame > " + str(reconParam.vldMergeRatioAgrFReconF) + ": " + str(ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) + "\n" + \
                          "ratioLocAgreeWithLocFrame: " + str(ratioAgreeFrameLocFrame) + "\n" + \
                          "ratioLocAgreeWithLocFrame > " + str(reconParam.vldMergeRatioAgrFLocF) + ": " + str(ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF) + "\n" + \
                          str(M) + "\n\n"))
       
        # rename the localization folder to save localization result
        '''
        if os.path.isdir(model2.locFolLoc+model1.name):
            FileUtils.removedir(model2.locFolLoc+model1.name)
        os.rename(model2.locFolLoc,model2.locFolLoc+model1.name)
        '''
        
        # obsolete merge condition
        '''
        if not sfm_merge_generated or \
            not (nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree and \
            ((countFileAgree > reconParam.vldMergeMinCountFileAgree or (countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and countFileLoc < countFileAgree*reconParam.vldMergeShortRatio)) and \
            ((nInlierTmp > reconParam.vldMergeNInliers and float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconFNInliers) or float(countFileAgree)/countFileLoc > reconParam.vldMergeRatioAgrFLocF) and
            (float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconF))):
        '''
        # update merge condition by T. Ishihara 2015.11.10
        '''
        if not sfm_merge_generated or \
            not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
                 countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and \
                 countFileLoc < countFileAgree*reconParam.vldMergeShortRatio and \
                 ((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
                    ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
                 ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
        '''
        # update merge condition by T. Ishihara 2016.04.02
        '''
        if not sfm_merge_generated or \
            not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
                 ((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
                    ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
                 ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
        '''
        # update merge condition by T. Ishihara 2016.06.09
        '''
        if not sfm_merge_generated or \
            not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
                 ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF and \
                 nInlierTmp > reconParam.min3DnInliers and \
                 ratioInlierMatchPoints > reconParam.vldMergeRatioInliersMatchPoints):
        '''
        # update merge condition by T. Ishihara 2016.06.20
        if not sfm_merge_generated or \
            not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
                 ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF and \
                 nInlierTmp > reconParam.min3DnInliers):        
            print "Transformed locations do not agree with localization. Skip merge between " + model1.name + " and " + model2.name + "."
            
            '''
            if os.path.isfile(os.path.join(sfmOutPath,"sfm_data.json")):
                os.rename(os.path.join(sfmOutPath,"sfm_data.json"), \
                          os.path.join(sfmOutPath,"sfm_data_("+model1.name + "," + model2.name+").json"))
            '''
                            
            # move to next video
            return False, sfmModelIBeacon("","","","","","","",validMergeRansacThres=0,validMergeRansacThresK=0,
                                          ransacStructureThres=0, ransacStructureThresK=0, 
                                          mergeStructureThres=0, mergeStructureThresK=0)
                
        # generate colorized before bundle adjustment for comparison
        os.system("openMVG_main_ComputeSfM_DataColor " +
            " -i " + os.path.join(sfmOutPath,"sfm_data.json") +
            " -o " + os.path.join(sfmOutPath,"colorized_pre.ply"))        
        
        # TODO : try computing structure from know pose here
        # https://github.com/openMVG/openMVG/issues/246
        # http://openmvg.readthedocs.io/en/latest/software/SfM/ComputeStructureFromKnownPoses/
        
        # TODO : revisit the order of bundle adjustment
        # perform bundle adjustment
        '''
        os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
                  " -c=" + "rs,rst,rsti" + " -r=" + "1")
        '''
        os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
                  " -c=" + "rst,rsti" + " -r=" + "1")
        
        os.system("openMVG_main_ComputeSfM_DataColor " +
            " -i " + os.path.join(sfmOutPath,"sfm_data.json") +
            " -o " + os.path.join(sfmOutPath,"colorized.ply"))
        
        # write new beacon file
        IBeaconUtils.exportBeaconDataForSfmImageFrames(self.mCsvPath, resultSfMDataFile, os.path.join(self.mInputPath,"listbeacon.txt"),
                                                       os.path.join(sfmOutPath,"beacon.txt"), reconIBeaconParam.normApproach)
        
        return True, sfmModelIBeacon("A" + model1.name + "," + model2.name +"Z", self.mInputImgPath, self.mCsvPath, 
                                     os.path.join(sfmOutPath,"beacon.txt"), self.mMatchesPath, os.path.join(sfmOutPath,"loc"), 
                                     resultSfMDataFile, validMergeRansacThres=model1.validMergeRansacThres,
                                     ransacStructureThres=model1.ransacStructureThres, 
                                     mergeStructureThres=model1.mergeStructureThres)
Ejemplo n.º 4
0
    def mergeOneModel(self, model1, model2, reconParam):

        sfmOutPath = os.path.join(self.mSfMPath,
                                  "global" + str(self.nMergedModel))

        # create a temporary folder for reconstructed image of model2
        inputImgTmpFolder = os.path.join(self.mSfMPath, "inputImgTmp",
                                         "inputImgTmp" + model2.name)

        # copy reconstructed image fom model2 to tmp folder
        sfm_data2 = FileUtils.loadjson(model2.sfm_dataLoc)
        if not os.path.isdir(inputImgTmpFolder):
            listReconFrameName = [
                sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]
                ["filename"] for x in range(0, len(sfm_data2["views"]))
                if sfm_data2["views"][x]["value"]["ptr_wrapper"]["data"]
                ["id_view"] in model2.reconFrame
            ]
            FileUtils.makedir(inputImgTmpFolder)
            for reconFrameName in listReconFrameName:
                os.system("cp -s " +
                          os.path.join(model2.imgFolLoc, reconFrameName) +
                          " " + inputImgTmpFolder)

        # remove all old localization result
        FileUtils.removedir(model2.locFolLoc)
        FileUtils.makedir(model2.locFolLoc)

        # localize the images from model2 on model1
        os.system(reconParam.LOCALIZE_PROJECT_PATH + \
                  " " + inputImgTmpFolder + \
                  " " + os.path.dirname(model1.sfm_dataLoc) + \
                  " " + self.mMatchesPath + \
                  " " + model2.locFolLoc + \
                  " -f=" + str(reconParam.locFeatDistRatio) + \
                  " -r=" + str(reconParam.locRansacRound) + \
                  " -e=" + model2.csvFolLoc + \
                  " -i=" + str(reconParam.locSkipFrame))

        # remove temporary image folder
        # removedir(inputImgTmpFolder)

        # extract centers from all json file and write to a file
        fileLoc = open(os.path.join(model2.locFolLoc, "center.txt"), "w")
        countLocFrame = 0
        for filename in sorted(os.listdir(model2.locFolLoc)):
            if filename[-4:] != "json":
                continue

            countLocFrame = countLocFrame + 1
            with open(os.path.join(model2.locFolLoc, filename)) as locJson:
                #print os.path.join(sfm_locOut,filename)
                locJsonDict = json.load(locJson)
                loc = locJsonDict["t"]
                fileLoc.write(
                    str(loc[0]) + " " + str(loc[1]) + " " + str(loc[2]) +
                    " 255 0 0\n")
        fileLoc.close()

        # get inlier matches
        FileUtils.makedir(sfmOutPath)
        resultSfMDataFile = os.path.join(sfmOutPath, "sfm_data.json")
        # below also checks if the ratio between first and last svd of M[0:3,0:3]
        # is good or not. If not then reject
        nInlierTmp, M = mergeSfM.mergeModel(
            model1.sfm_dataLoc,
            model2.sfm_dataLoc,
            model2.locFolLoc,
            resultSfMDataFile,
            ransacK=reconParam.ransacStructureThresMul,
            ransacRound=reconParam.ransacRoundMul * len(model1.reconFrame),
            inputImgDir=self.mInputImgPath,
            minLimit=reconParam.min3DnInliers)

        # 3. perform test whether merge is good
        sfm_merge_generated = True
        countFileAgree = 0
        countFileLoc = 1
        if os.path.isfile(resultSfMDataFile):
            os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " +
                      resultSfMDataFile + " " + resultSfMDataFile)
            countFileLoc, countFileAgree = mergeSfM.modelMergeCheckLocal(
                resultSfMDataFile, model2.locFolLoc,
                reconParam.vldMergeAgrFrameThresK)
        else:
            sfm_merge_generated = False

        ratioAgreeFrameReconFrame = 0.0
        if (len(model2.reconFrame) > 0):
            ratioAgreeFrameReconFrame = float(countFileAgree) / len(
                model2.reconFrame)
        ratioAgreeFrameLocFrame = 0.0
        if (countFileLoc > 0):
            ratioAgreeFrameLocFrame = float(countFileAgree) / countFileLoc

        # write log file
        with open(
                os.path.join(self.mSfMPath, "global" + str(self.nMergedModel),
                             "log.txt"), "a") as filelog:
            filelog.write(("M1: " + model1.name + "\n" + \
                          "M2: " + model2.name + "\n" + \
                          "nInliers: " + str(nInlierTmp) + "\n" + \
                          "countLocFrame: " + str(countLocFrame) + "\n" + \
                          "nReconFrame M2: " + str(len(model2.reconFrame)) + "\n" + \
                          "countFileAgree: " + str(countFileAgree) + "\n" + \
                          "countFileLoc: " + str(countFileLoc) + "\n" + \
                          "not sfm_merge_generated: " + str(not sfm_merge_generated) + "\n" + \
                          # obsolete condition by T. Ishihara 2015.11.10
                          #"nInlierTmp > "+str(reconParam.vldMergeRatioInliersFileagree)+"*countFileAgree: " + str(nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree) + "\n" + \
                          "countFileAgree > "+str(reconParam.vldMergeMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeMinCountFileAgree) + "\n" + \
                          # obsolete condition by T. Ishihara 2016.04.02
                          #"countFileAgree > "+str(reconParam.vldMergeSmallMinCountFileAgree)+": " + str(countFileAgree > reconParam.vldMergeSmallMinCountFileAgree) + "\n" + \
                          # obsolete condition by T. Ishihara 2016.04.02                          
                          #"countFileLoc < countFileAgree*" +str(reconParam.vldMergeShortRatio)+ ": " + str(countFileLoc < countFileAgree*reconParam.vldMergeShortRatio) + "\n" + \
                          "ratioLocAgreeWithReconFrame: " + str(ratioAgreeFrameReconFrame) + "\n" + \
                          "ratioLocAgreeWithReconFrame > " + str(reconParam.vldMergeRatioAgrFReconF) + ": " + str(ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) + "\n" + \
                          "ratioLocAgreeWithLocFrame: " + str(ratioAgreeFrameLocFrame) + "\n" + \
                          "ratioLocAgreeWithLocFrame > " + str(reconParam.vldMergeRatioAgrFLocF) + ": " + str(ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF) + "\n" + \
                          str(M) + "\n\n"))

        # rename the localization folder to save localization result
        if os.path.isdir(model2.locFolLoc + model1.name):
            FileUtils.removedir(model2.locFolLoc + model1.name)
        os.rename(model2.locFolLoc, model2.locFolLoc + model1.name)

        # obsolete merge condition
        '''
        if not sfm_merge_generated or \
            not (nInlierTmp > reconParam.vldMergeRatioInliersFileagree*countFileAgree and \
            ((countFileAgree > reconParam.vldMergeMinCountFileAgree or (countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and countFileLoc < countFileAgree*reconParam.vldMergeShortRatio)) and \
            ((nInlierTmp > reconParam.vldMergeNInliers and float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconFNInliers) or float(countFileAgree)/countFileLoc > reconParam.vldMergeRatioAgrFLocF) and
            (float(countFileAgree)/len(model2.reconFrame) > reconParam.vldMergeRatioAgrFReconF))):
        '''
        # update merge condition by T. Ishihara 2015.11.10
        '''
        if not sfm_merge_generated or \
            not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
                 countFileAgree > reconParam.vldMergeSmallMinCountFileAgree and \
                 countFileLoc < countFileAgree*reconParam.vldMergeShortRatio and \
                 ((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
                    ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
                 ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
        '''
        # update merge condition by T. Ishihara 2016.04.02
        if not sfm_merge_generated or \
            not (countFileAgree > reconParam.vldMergeMinCountFileAgree and \
                 ((nInlierTmp > reconParam.vldMergeNInliers and ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconFNInliers) or \
                    ratioAgreeFrameReconFrame > reconParam.vldMergeRatioAgrFReconF) and \
                 ratioAgreeFrameLocFrame > reconParam.vldMergeRatioAgrFLocF):
            print "Transformed locations do not agree with localization. Skip merge between " + model1.name + " and " + model2.name + "."

            if os.path.isfile(os.path.join(sfmOutPath, "sfm_data.json")):
                os.rename(os.path.join(sfmOutPath,"sfm_data.json"), \
                          os.path.join(sfmOutPath,"sfm_data_("+model1.name + "," + model2.name+").json"))

            # move to next video
            return False, sfmModel("", "", "", "", "", "")

        # generate colorized before bundle adjustment for comparison
        os.system("openMVG_main_ComputeSfM_DataColor " + " -i " +
                  os.path.join(sfmOutPath, "sfm_data.json") + " -o " +
                  os.path.join(sfmOutPath, "colorized_pre.ply"))

        # perform bundle adjustment
        # modified by T.Ishihara 2016.04.08
        # fix only translation at first
        '''
        os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
                  " -c=" + "rs,rst,rsti" + " -r=" + "1")
        '''
        os.system(reconParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + os.path.join(sfmOutPath,"sfm_data.json") + " " + os.path.join(sfmOutPath,"sfm_data.json") + \
                  " -c=" + "st,rst,rsti" + " -r=" + "1")

        os.system("openMVG_main_ComputeSfM_DataColor " + " -i " +
                  os.path.join(sfmOutPath, "sfm_data.json") + " -o " +
                  os.path.join(sfmOutPath, "colorized.ply"))

        return True, sfmModel("A" + model1.name + "," + model2.name + "Z",
                              self.mInputImgPath,
                              self.mCsvPath, self.mMatchesPath,
                              os.path.join(sfmOutPath,
                                           "loc"), resultSfMDataFile)