def add_points_to_reconstruction(
points: np.ndarray, color: np.ndarray, reconstruction: types.Reconstruction
):
shift = len(reconstruction.points)
for i in range(points.shape[0]):
point = reconstruction.create_point(str(shift + i), points[i, :])
point.color = color
def point_from_json(
reconstruction: types.Reconstruction, key: str, obj: Dict[str, Any]
) -> pymap.Landmark:
"""
Read a point from a json object
"""
point = reconstruction.create_point(key, obj["coordinates"])
point.color = obj["color"]
return point
def check_merge_partial_reconstructions(self):
if self.reconstructed():
data = DataSet(self.opensfm_project_path)
reconstructions = data.load_reconstruction()
tracks_manager = data.load_tracks_manager()
if len(reconstructions) > 1:
log.ODM_WARNING(
"Multiple reconstructions detected (%s), this might be an indicator that some areas did not have sufficient overlap"
% len(reconstructions))
log.ODM_INFO("Attempting merge")
merged = Reconstruction()
merged.set_reference(reconstructions[0].reference)
for ix_r, rec in enumerate(reconstructions):
if merged.reference != rec.reference:
# Should never happen
continue
log.ODM_INFO("Merging reconstruction %s" % ix_r)
for camera in rec.cameras.values():
merged.add_camera(camera)
for point in rec.points.values():
try:
new_point = merged.create_point(
point.id, point.coordinates)
new_point.color = point.color
except RuntimeError as e:
log.ODM_WARNING("Cannot merge shot id %s (%s)" %
(shot.id, str(e)))
continue
for shot in rec.shots.values():
merged.add_shot(shot)
try:
obsdict = tracks_manager.get_shot_observations(
shot.id)
except RuntimeError:
log.ODM_WARNING(
"Shot id %s missing from tracks_manager!" %
shot.id)
continue
for track_id, obs in obsdict.items():
if track_id in merged.points:
merged.add_observation(shot.id, track_id, obs)
data.save_reconstruction([merged])