def main():
description = 'This script is for merging multiple SfM output models to one SfM model.' + \
'Please prepare multiple OpenMVG projects which have output SfM models, and matrix to convert to global coordinate.'
parser = argparse.ArgumentParser(description=description)
parser.add_argument('input_csv', action='store', nargs=None, const=None, \
default=None, type=str, choices=None, metavar=None, \
help='Input CSV file which lists OpenMVG projects which will be merged.')
parser.add_argument('output_dir', action='store', nargs=None, const=None, \
default=None, type=str, choices=None, metavar=None, \
help='Output directory path where merged model will be saved.')
args = parser.parse_args()
input_csv = args.input_csv
output_dir = args.output_dir
# load reconstruct parameters
reconstructParam = ReconstructParam.ReconstructParam
# read projects list
projectList = []
with open(input_csv, "r") as f:
reader = csv.reader(f)
for row in reader:
project = {}
project["dir"] = row[0]
project["sfm_data"] = row[1]
project["A"] = row[2]
projectList.append(project)
# copy source files to output directory
for project in projectList:
copyOriginalFiles(project["dir"], output_dir)
# prepare output directory
if not os.path.isdir(os.path.join(output_dir, "Ref")):
FileUtils.makedir(os.path.join(output_dir, "Ref"))
if not os.path.isdir(os.path.join(output_dir, "Ref", "loc")):
FileUtils.makedir(os.path.join(output_dir, "Ref", "loc"))
if not os.path.isdir(os.path.join(output_dir, "Output", "SfM")):
FileUtils.makedir(os.path.join(output_dir, "Output", "SfM"))
if not os.path.isdir(
os.path.join(output_dir, "Output", "SfM", "reconstruction")):
FileUtils.makedir(
os.path.join(output_dir, "Output", "SfM", "reconstruction"))
if not os.path.isdir(
os.path.join(output_dir, "Output", "SfM", "reconstruction",
"global")):
FileUtils.makedir(
os.path.join(output_dir, "Output", "SfM", "reconstruction",
"global"))
sfmDataList = []
sfmViewBeaconDataList = []
sfmBeaconMap = None
for project in projectList:
if not os.path.exists(project["sfm_data"]):
print "cannot find sfm data : " + project["sfm_data"]
sys.exit()
with open(project["sfm_data"]) as jsonFile:
sfmDataList.append(json.load(jsonFile))
sfmBeaconFile = os.path.join(os.path.dirname(project["sfm_data"]),
"beacon.txt")
if os.path.exists(sfmBeaconFile):
print "find beacon.txt for sfm data : " + project["sfm_data"]
imgBeaconList, beaconMap = iBeaconUtils.readBeaconData(
sfmBeaconFile)
sfmViewBeaconDataList.append(imgBeaconList)
if sfmBeaconMap is None:
sfmBeaconMap = beaconMap
else:
if sfmBeaconMap != beaconMap:
print "invalid find beacon.txt for sfm data : " + project[
"sfm_data"]
print "beacon.txt should be same for all merged sfm_data"
sys.exit()
else:
print "valid beacon.txt for sfm data : " + project[
"sfm_data"]
AList = []
for project in projectList:
AList.append(np.loadtxt(project["A"]))
print "load mat : " + project["A"]
print(np.loadtxt(project["A"]))
print "Load 3D points"
pointIdList = []
pointList = []
for sfmData in sfmDataList:
pointId, point = mergeSfM.getAll3DPointloc(sfmData)
pointn = np.asarray(point, dtype=np.float).T
pointIdList.append(pointId)
pointList.append(pointn)
# merge models
mergeSfmData = None
mergePointId = None
mergePointn = None
mergeSfmViewBeaconData = None
for idx in range(0, len(sfmDataList)):
if idx == 0:
mergeSfmData = sfmDataList[0]
mergeSfM.transform_sfm_data(mergeSfmData, AList[0])
if len(sfmViewBeaconDataList) > 0:
mergeSfmViewBeaconData = sfmViewBeaconDataList[0]
else:
ransacThres = mergeSfM.findMedianStructurePointsThres(
mergeSfmData, reconstructParam.ransacStructureThresMul)
print "thres to merge 3D points : " + str(ransacThres)
inlierMap = findInliersByKnownTransform(mergePointId,
pointIdList[idx],
mergePointn,
pointList[idx], AList[idx],
ransacThres)
print "number of points in base model : " + str(len(
mergePointn[0]))
print "number of points in model " + str(idx) + " : " + str(
len(pointList[idx]))
print "number of inliers : " + str(len(inlierMap))
if len(sfmViewBeaconDataList) > 0:
mergeSfM.merge_sfm_data(mergeSfmData, sfmDataList[idx],
AList[idx],
{x[0]: x[1]
for x in inlierMap},
mergeSfmViewBeaconData,
sfmViewBeaconDataList[idx])
else:
mergeSfM.merge_sfm_data(mergeSfmData, sfmDataList[idx],
AList[idx],
{x[0]: x[1]
for x in inlierMap})
mergePointId, mergePoint = mergeSfM.getAll3DPointloc(mergeSfmData)
mergePointn = np.asarray(mergePoint, dtype=np.float).T
# go back to coordinate of the first model
_invA = np.linalg.inv(AList[0][0:3, 0:3])
invA = np.c_[_invA, -np.dot(_invA, AList[0][:, 3])]
mergeSfM.transform_sfm_data(mergeSfmData, invA)
mergeSfmData["root_path"] = os.path.join(output_dir, "Input", "inputImg")
resultSfMDataFile = os.path.join(output_dir, "Output", "SfM",
"reconstruction", "global",
"sfm_data.json")
with open(os.path.join(resultSfMDataFile), "w") as jsonfile:
json.dump(mergeSfmData, jsonfile)
if mergeSfmViewBeaconData is not None:
mergeSfmViewBeaconDataMapList = []
for key in mergeSfmViewBeaconData:
mergeSfmViewBeaconDataMap = {}
mergeSfmViewBeaconDataMap[key] = mergeSfmViewBeaconData[key]
mergeSfmViewBeaconDataMapList.append(mergeSfmViewBeaconDataMap)
iBeaconUtils.exportBeaconData(
len(mergeSfmData["views"]), sfmBeaconMap,
mergeSfmViewBeaconDataMapList,
os.path.join(os.path.dirname(resultSfMDataFile), "beacon.txt"))
'''
os.system(reconstructParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + resultSfMDataFile + " " + resultSfMDataFile)
'''
Amat = AList[0]
with open(os.path.join(output_dir, "Ref", "Amat.txt"), "w") as AmatFile:
np.savetxt(AmatFile, Amat)
FileUtils.convertNumpyMatTxt2OpenCvMatYml(
os.path.join(output_dir, "Ref", "Amat.txt"),
os.path.join(output_dir, "Ref", "Amat.yml"), "A")
# To create same directory structure before merging, create sfm_data.json without structure information in matches directory
with open(resultSfMDataFile) as fpr:
sfmData = json.load(fpr)
sfmData["extrinsics"] = []
sfmData["control_points"] = []
sfmData["structure"] = []
with open(
os.path.join(output_dir, "Output", "matches", "sfm_data.json"),
"w") as fpw:
json.dump(sfmData, fpw)
print "Execute : " + reconstructParam.WORKSPACE_DIR + "/TrainBoW/Release/TrainBoW " + os.path.join(output_dir,"Output") + " " + \
os.path.join(output_dir,"Output", "matches", "BOWfile.yml") + " -p=" + os.path.join(output_dir,"Output", "matches", "PCAfile.yml")
os.system(reconstructParam.WORKSPACE_DIR + "/TrainBoW/Release/TrainBoW " + os.path.join(output_dir,"Output") + " " + \
os.path.join(output_dir,"Output", "matches", "BOWfile.yml") + " -p=" + os.path.join(output_dir,"Output", "matches", "PCAfile.yml"))
os.system("openMVG_main_ComputeSfM_DataColor -i " + resultSfMDataFile + \
" -o " + os.path.join(output_dir,"Output","SfM","reconstruction","global","colorized.ply"))
def main():
description = 'This script is for merging multiple SfM output models to one SfM model.' + \
'Please prepare multiple OpenMVG projects which have output SfM models, and matrix to convert to global coordinate.'
parser = argparse.ArgumentParser(description=description)
parser.add_argument('input_csv', action='store', nargs=None, const=None, \
default=None, type=str, choices=None, metavar=None, \
help='Input CSV file which lists OpenMVG projects which will be merged.')
parser.add_argument('output_dir', action='store', nargs=None, const=None, \
default=None, type=str, choices=None, metavar=None, \
help='Output directory path where merged model will be saved.')
args = parser.parse_args()
input_csv = args.input_csv
output_dir = args.output_dir
# load reconstruct parameters
reconstructParam = ReconstructParam.ReconstructParam
# read projects list
projectList = []
with open(input_csv, "r") as f:
reader = csv.reader(f)
for row in reader:
project = {}
project["dir"] = row[0]
project["sfm_data"] = row[1]
project["A"] = row[2]
projectList.append(project)
# copy source files to output directory
for project in projectList:
copyOriginalFiles(project["dir"], output_dir)
# prepare output directory
if not os.path.isdir(os.path.join(output_dir,"Ref")):
FileUtils.makedir(os.path.join(output_dir,"Ref"))
if not os.path.isdir(os.path.join(output_dir,"Ref","loc")):
FileUtils.makedir(os.path.join(output_dir,"Ref","loc"))
if not os.path.isdir(os.path.join(output_dir,"Output","SfM")):
FileUtils.makedir(os.path.join(output_dir,"Output","SfM"))
if not os.path.isdir(os.path.join(output_dir,"Output","SfM","reconstruction")):
FileUtils.makedir(os.path.join(output_dir,"Output","SfM","reconstruction"))
if not os.path.isdir(os.path.join(output_dir,"Output","SfM","reconstruction","global")):
FileUtils.makedir(os.path.join(output_dir,"Output","SfM","reconstruction","global"))
sfmDataList = []
sfmViewBeaconDataList = []
sfmBeaconMap = None
for project in projectList:
if not os.path.exists(project["sfm_data"]):
print "cannot find sfm data : " + project["sfm_data"]
sys.exit()
with open(project["sfm_data"]) as jsonFile:
sfmDataList.append(json.load(jsonFile))
sfmBeaconFile = os.path.join(os.path.dirname(project["sfm_data"]), "beacon.txt")
if os.path.exists(sfmBeaconFile):
print "find beacon.txt for sfm data : " + project["sfm_data"]
imgBeaconList, beaconMap = iBeaconUtils.readBeaconData(sfmBeaconFile)
sfmViewBeaconDataList.append(imgBeaconList)
if sfmBeaconMap is None:
sfmBeaconMap = beaconMap
else:
if sfmBeaconMap!=beaconMap:
print "invalid find beacon.txt for sfm data : " + project["sfm_data"]
print "beacon.txt should be same for all merged sfm_data"
sys.exit()
else:
print "valid beacon.txt for sfm data : " + project["sfm_data"]
AList = []
for project in projectList:
AList.append(np.loadtxt(project["A"]))
print "load mat : " + project["A"]
print (np.loadtxt(project["A"]))
print "Load 3D points"
pointIdList = []
pointList = []
for sfmData in sfmDataList:
pointId, point = mergeSfM.getAll3DPointloc(sfmData)
pointn = np.asarray(point, dtype=np.float).T
pointIdList.append(pointId)
pointList.append(pointn)
# merge models
mergeSfmData = None
mergePointId = None
mergePointn = None
mergeSfmViewBeaconData = None
for idx in range(0, len(sfmDataList)):
if idx==0:
mergeSfmData = sfmDataList[0]
mergeSfM.transform_sfm_data(mergeSfmData, AList[0])
if len(sfmViewBeaconDataList)>0:
mergeSfmViewBeaconData = sfmViewBeaconDataList[0]
else:
mergePointThres = mergeSfM.findMedianStructurePointsThres(mergeSfmData, reconstructParam.mergePointThresMul)
print "thres to merge 3D points : " + str(mergePointThres)
inlierMap = findInliersByKnownTransform(mergePointId, pointIdList[idx], mergePointn, pointList[idx], AList[idx], mergePointThres)
print "number of points in base model : " + str(len(mergePointn[0]))
print "number of points in model " + str(idx) + " : " + str(len(pointList[idx]))
print "number of inliers : " + str(len(inlierMap))
if len(sfmViewBeaconDataList)>0:
mergeSfM.merge_sfm_data(mergeSfmData, sfmDataList[idx], AList[idx], {x[0]: x[1] for x in inlierMap}, mergeSfmViewBeaconData, sfmViewBeaconDataList[idx])
else:
mergeSfM.merge_sfm_data(mergeSfmData, sfmDataList[idx], AList[idx], {x[0]: x[1] for x in inlierMap})
mergePointId, mergePoint = mergeSfM.getAll3DPointloc(mergeSfmData)
mergePointn = np.asarray(mergePoint, dtype=np.float).T
# go back to coordinate of the first model
_invA = np.linalg.inv(AList[0][0:3,0:3])
invA = np.c_[_invA, -np.dot(_invA,AList[0][:,3])]
mergeSfM.transform_sfm_data(mergeSfmData, invA)
mergeSfmData["root_path"] = os.path.join(output_dir,"Input","inputImg")
resultSfMDataFile = os.path.join(output_dir,"Output","SfM","reconstruction","global","sfm_data.json")
with open(os.path.join(resultSfMDataFile),"w") as jsonfile:
json.dump(mergeSfmData, jsonfile)
if mergeSfmViewBeaconData is not None:
mergeSfmViewBeaconDataMapList = []
for key in mergeSfmViewBeaconData:
mergeSfmViewBeaconDataMap = {}
mergeSfmViewBeaconDataMap[key] = mergeSfmViewBeaconData[key]
mergeSfmViewBeaconDataMapList.append(mergeSfmViewBeaconDataMap)
iBeaconUtils.exportBeaconData(len(mergeSfmData["views"]), sfmBeaconMap, mergeSfmViewBeaconDataMapList,
os.path.join(os.path.dirname(resultSfMDataFile), "beacon.txt"))
'''
os.system(reconstructParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + resultSfMDataFile + " " + resultSfMDataFile)
'''
os.system(reconstructParam.BUNDLE_ADJUSTMENT_PROJECT_PATH + " " + resultSfMDataFile + " " + resultSfMDataFile + \
" -c=" + "rst,rsti" + " -r=" + "1")
Amat = AList[0]
with open(os.path.join(output_dir,"Ref","Amat.txt"),"w") as AmatFile:
np.savetxt(AmatFile,Amat)
FileUtils.convertNumpyMatTxt2OpenCvMatYml(os.path.join(output_dir,"Ref","Amat.txt"), os.path.join(output_dir,"Ref","Amat.yml"), "A")
# To create same directory structure before merging, create sfm_data.json without structure information in matches directory
with open(resultSfMDataFile) as fpr:
sfmData = json.load(fpr)
sfmData["extrinsics"] = []
sfmData["control_points"] = []
sfmData["structure"] = []
with open(os.path.join(output_dir,"Output","matches","sfm_data.json"),"w") as fpw:
json.dump(sfmData, fpw)
print "Execute : " + reconstructParam.WORKSPACE_DIR + "/TrainBoW/Release/TrainBoW " + os.path.join(output_dir,"Output") + " " + \
os.path.join(output_dir,"Output", "matches", "BOWfile.yml") + " -p=" + os.path.join(output_dir,"Output", "matches", "PCAfile.yml")
os.system(reconstructParam.WORKSPACE_DIR + "/TrainBoW/Release/TrainBoW " + os.path.join(output_dir,"Output") + " " + \
os.path.join(output_dir,"Output", "matches", "BOWfile.yml") + " -p=" + os.path.join(output_dir,"Output", "matches", "PCAfile.yml"))
os.system("openMVG_main_ComputeSfM_DataColor -i " + resultSfMDataFile + \
" -o " + os.path.join(output_dir,"Output","SfM","reconstruction","global","colorized.ply"))
