def export(reconstruction, tracks_manager, udata: UndistortedDataSet,
export_only):
exporter = pydense.OpenMVSExporter()
for camera in reconstruction.cameras.values():
if camera.projection_type == "perspective":
w, h = camera.width, camera.height
K = np.array([
[camera.focal * max(w, h), 0, (w - 1.0) / 2.0],
[0, camera.focal * max(w, h), (h - 1.0) / 2.0],
[0, 0, 1],
])
exporter.add_camera(str(camera.id), K, w, h)
for shot in reconstruction.shots.values():
if export_only is not None and shot.id not in export_only:
continue
if shot.camera.projection_type == "perspective":
image_path = udata._undistorted_image_file(shot.id)
exporter.add_shot(
str(os.path.abspath(image_path)),
str(shot.id),
str(shot.camera.id),
shot.pose.get_rotation_matrix(),
shot.pose.get_origin(),
)
for point in reconstruction.points.values():
observations = tracks_manager.get_track_observations(point.id)
if export_only is not None:
shots = [k for k in observations if k in export_only]
else:
shots = list(observations)
if shots:
coordinates = np.array(point.coordinates, dtype=np.float64)
exporter.add_point(coordinates, shots)
io.mkdir_p(udata.data_path + "/openmvs")
exporter.export(udata.data_path + "/openmvs/scene.mvs")
def image_path(image, udata: UndistortedDataSet):
"""Path to the undistorted image relative to the dataset path."""
path = udata._undistorted_image_file(image)
return os.path.relpath(path, udata.data_path)