def save_triangles_in_ply_file(output_path_to_file, triangles):
logger.info('save_triangles_in_ply_file: ...')
points = []
faces = []
for triangle_index, triangle in enumerate(triangles):
assert isinstance(triangle.vertex_0, np.ndarray) \
and isinstance(triangle.vertex_1, np.ndarray) \
and isinstance(triangle.vertex_2,np.ndarray)
# FIXME this will result in duplicated points (in the ply file)
points += [
Point(triangle.vertex_0),
Point(triangle.vertex_1),
Point(triangle.vertex_2)
]
# FIXME these face indices refer to duplicated points
faces.append(
Face(initial_indices=[
3 * triangle_index, 3 * triangle_index +
1, 3 * triangle_index + 2
]))
PLYFileHandler.write_ply_file(ofp=output_path_to_file,
vertices=points,
faces=faces)
logger.info('save_triangles_in_ply_file: Done')
def _parse_nvm_points(input_file, num_3D_points):
points = []
for point_index in range(num_3D_points):
# From the docs:
# <Point> = <XYZ> <RGB> <number of measurements> <List of Measurements>
point_line = input_file.readline()
point_line_elements = (point_line.rstrip()).split()
xyz_vec = list(map(float, point_line_elements[0:3]))
rgb_vec = list(map(int, point_line_elements[3:6]))
number_measurements = int(point_line_elements[6])
measurements = point_line_elements[7:]
class_ids = defaultdict(lambda: 0)
current_point_measurement = []
for measurement_index in range(0, number_measurements):
# From the docs:
# <Measurement> = <Image index> <Feature Index> <xy>
current_measurement = measurements[measurement_index *
4:(measurement_index + 1) *
4]
# print current_measurement
image_index = int(current_measurement[0])
feature_index = int(current_measurement[1])
# REMARK: The order of ndarray.shape (first height, then width) is complimentary to
# pils image.size (first width, then height).
# That means
# height, width = segmentation_as_matrix.shape
# width, height = image.size
# Therefore
# x_in_nvm_file == x_image == y_ndarray and
# y_in_nvm_file == y_image == x_ndarray
x_in_nvm_file = float(current_measurement[2])
y_in_nvm_file = float(current_measurement[3])
current_point_measurement.append(
Measurement(image_index, feature_index, x_in_nvm_file,
y_in_nvm_file))
# REMARK: x_in_nvm_file and y_in_nvm_file are relative to the image center
current_point = Point(coord=xyz_vec, color=rgb_vec)
current_point.measurements = current_point_measurement
current_point.id = point_index
points.append(current_point)
return points
def save_single_triangle_in_ply_file(output_path_to_file, corner_0,
corner_1, corner_2):
assert isinstance(corner_0, np.ndarray) and \
isinstance(corner_1, np.ndarray) and \
isinstance(corner_2, np.ndarray)
points = [Point(corner_0), Point(corner_1), Point(corner_2)]
# the first 3 points are building the triangle
faces = [Face(initial_indices=[0, 1, 2])]
PLYFileHandler.write_ply_file(ofp=output_path_to_file,
vertices=points,
faces=faces)
def convert_colmap_points_to_points(id_to_col_points3D):
# From photogrammetry_importer\ext\read_write_model.py
# Point3D = collections.namedtuple(
# "Point3D", ["id", "xyz", "rgb", "error", "image_ids", "point2D_idxs"])
col_points3D = id_to_col_points3D.values()
points3D = []
for col_point3D in col_points3D:
current_point = Point(coord=col_point3D.xyz, color=col_point3D.rgb)
current_point.id = col_point3D.id
points3D.append(current_point)
return points3D
def compute_ray_triangles_closest_intersection_point(ray,
triangles,
color_intersection_point=[0, 255, 0]):
"""
Returns the parameter of the closest intersection of ray with any triangle in triangles and the corresponding
intersection point.
:param ray:
:param triangles:
:param color_intersection_point:
:return:
"""
assert ray is not None
# the closest intersection is the intersection with the smallest t value
t = None
# print('len(triangles)')
# print(len(triangles))
for triangle in triangles:
#print(triangle)
t_temp, u_temp, v_temp = GeometryCollection.compute_ray_triangle_intersection_intersecting_parameter(
ray, triangle)
# check if we found a valid intersection
if t_temp is not None:
if t is None:
t = t_temp
elif t is not None and t_temp < t:
t = t_temp
if t is not None:
return Point(coord=ray.pos_vec + t * ray.dir_vec, color=color_intersection_point), t
else:
return None, None
def _readPoints(self, pointCount):
points = []
for index in range(pointCount):
# Add points:
position = np.array(self._readFloatItems())
color = np.array(self._readIntItems())
points.append(Point(coord=position, color=color))
self._readLine() # Skip mapped image features
return points
def parse_asc_or_pts_or_csv(ifp, delimiter, only_data):
points = []
with open(ifp, 'r') as ifc:
data_semantics = None
if not only_data:
line = ifc.readline()
if line.startswith('//'):
data_semantics = PointDataFileHandler.parse_header(line)
line = ifc.readline()
num_points = int(line.strip())
else:
num_points = int(line.strip())
lines_as_tuples = PointDataFileHandler.read_lines_as_tuples(
ifc, delimiter=delimiter)
if data_semantics is None:
# Determine the semantics of the data
data_tuple = lines_as_tuples[0]
data_semantics = PointDataFileHandler.guess_data_semantics(
data_tuple)
if data_semantics.pseudo_color:
factor = 255
else:
factor = 1
for data_tuple in lines_as_tuples:
point = Point()
point.coord = [
float(data_tuple[data_semantics.x_idx]),
float(data_tuple[data_semantics.y_idx]),
float(data_tuple[data_semantics.z_idx])
]
point.color = [
int(factor * float(data_tuple[data_semantics.r_idx])),
int(factor * float(data_tuple[data_semantics.g_idx])),
int(factor * float(data_tuple[data_semantics.b_idx]))
]
points.append(point)
return points
def __ply_data_vertices_to_vetex_list(ply_data):
vertex_data_type_names = ply_data['vertex'].data.dtype.names
use_color = False
if 'red' in vertex_data_type_names and 'green' in vertex_data_type_names and 'blue' in vertex_data_type_names:
use_color = True
vertices = []
value_keys = [
x for x, y in sorted(ply_data['vertex'].data.dtype.fields.items(),
key=lambda k: k[1])
]
non_scalar_value_keys = [
'x', 'y', 'z', 'red', 'green', 'blue', 'nx', 'ny', 'nz',
'measurements'
]
scalar_value_keys = [
value_key for value_key in value_keys
if not value_key in non_scalar_value_keys
]
logger.info('Found the following vertex properties: ' +
str(value_keys))
#scalar_value_keys = [value_key for (value_key, some_value) in ]
#logger.info(scalar_value_keys)
logger.info('Found ' + str(len(ply_data['vertex'].data)) + ' vertices')
# print(type(line)) == numpy.void
# print(line.dtype) == [('x', '<f4'), ('y', '<f4'), ('z', '<f4'), ('red', 'u1'), ('green', 'u1'), ('blue', 'u1'), ('measurements', 'O')]
for point_index, line in enumerate(ply_data['vertex'].data):
current_point = Point()
current_point.coord = np.array([line['x'], line['y'], line['z']])
if use_color:
current_point.color = np.array(
[line['red'], line['green'], line['blue']])
current_point.id = point_index
for scalar_value_key in scalar_value_keys:
current_point.scalars[scalar_value_key] = line[
scalar_value_key]
if 'measurements' in line.dtype.names:
elements_per_measurement = 4
current_point.measurements = []
for measurement_idx in range(
len(line['measurements']) / elements_per_measurement):
array_idx = measurement_idx * elements_per_measurement
slice = line['measurements'][array_idx:array_idx +
elements_per_measurement]
current_point.measurements.append(
Measurement.init_from_list(slice))
vertices.append(current_point)
ply_data_vertex_dtype = ply_data['vertex'].dtype
ply_data_vertex_data_dtype = ply_data['vertex'].data.dtype
return vertices, ply_data_vertex_dtype, ply_data_vertex_data_dtype
def save_rectangle_in_ply_file(output_path_to_file, corner_0, corner_1,
corner_2, corner_3):
assert isinstance(corner_0, np.ndarray) and \
isinstance(corner_1, np.ndarray) and \
isinstance(corner_2, np.ndarray) is isinstance(corner_3, np.ndarray)
points = [
Point(corner_0),
Point(corner_1),
Point(corner_2),
Point(corner_3)
]
# represent the rectangle by 2 triangles
face_1 = Face(initial_indices=[0, 1, 2])
face_2 = Face(initial_indices=[3, 2, 1])
faces = [face_1, face_2]
PLYFileHandler.write_ply_file(ofp=output_path_to_file,
vertices=points,
faces=faces)
def generate_points_along_ray(ray, color=np.array([255, 0 , 0]), amount_steps=100, scale=1.0):
points_along_ray = []
# the length of the direction vector is the distance in which we need too draw points
length = np.linalg.norm(ray.dir_vec)
step_width = length / float(amount_steps)
ray_direction_vector_normalized = ray.dir_vec / np.linalg.norm(ray.dir_vec)
# we need amount_steps+1 to cover also the start and the end point
for step in range(amount_steps+1):
coords = ray.pos_vec + float(step_width) * float(step) * ray_direction_vector_normalized * float(scale)
point = Point(coord=coords, color=color)
points_along_ray.append(point)
return points_along_ray
def write_camera_centers_as_ply(camera_object_trajectory,
camera_trajectory_ply_file_path):
camera_centers = []
for frame_name in camera_object_trajectory.get_frame_names_sorted():
cam = camera_object_trajectory.get_camera(frame_name)
if cam.is_monocular_cam():
camera_centers.append(cam.get_camera_center())
else:
camera_centers.append(cam.get_left_camera().get_camera_center())
camera_centers.append(cam.get_right_camera().get_camera_center())
camera_center_points = []
for center in camera_centers:
camera_center_points.append(Point(coord=center, color=(0, 255, 0)))
PLYFileHandler.write_ply_file(
ofp=camera_trajectory_ply_file_path,
vertices=camera_center_points,
plain_text_output=True) # Binary output does only work
def compute_ray_plane_intersection(ray, plane, color_intersection_point=[0, 255, 0]):
"""
Note: A plane has no spatial margin.
If a spatial margin is required use "compute_rays_triangles_closest_intersection_points()"
:param ray:
:param plane:
:param color_intersection_point:
:return: Point, t
"""
# https://en.wikipedia.org/wiki/Line%E2%80%93plane_intersection
assert ray is not None
# the closest intersection is the intersection with the smallest t value
t = None
ray_dir_dot_plane_normal = (ray.dir_vec).dot(plane.normal_vec)
if ray_dir_dot_plane_normal != 0: # check parallel case
t = (plane.pos_vec - ray.pos_vec).dot(plane.normal_vec) / float(ray_dir_dot_plane_normal)
if t is not None:
return Point(coord=ray.pos_vec + t * ray.dir_vec, color=color_intersection_point), t
else:
return None, None
def post_process_depth_output(model_idp,
animation_transformations_file_suffix,
input_depth_image_folder_name,
output_nvm_folder_name,
lazy=True):
logger.info('post_process_depth_output: ...')
# Input path
input_depth_image_folder_path = os.path.join(
model_idp, input_depth_image_folder_name)
animation_transformations_file = os.path.join(
model_idp, animation_transformations_file_suffix)
if os.path.isdir(input_depth_image_folder_path):
# Output path
nvm_folder_path = os.path.join(model_idp, output_nvm_folder_name)
if not os.path.isdir(nvm_folder_path):
os.mkdir(nvm_folder_path)
logger.vinfo('nvm_folder_path', nvm_folder_path)
input_depth_list = get_image_paths_in_folder(
input_depth_image_folder_path, ext='.exr')
# Required to avoid "IOError: broken data stream when reading image file" error
ImageFile.LOAD_TRUNCATED_IMAGES = True
camera_object_trajectory = TrajectoryFileHandler.parse_camera_and_object_trajectory_file(
animation_transformations_file)
logger.vinfo('camera_object_trajectory', camera_object_trajectory)
for input_depth_exr_path in input_depth_list:
frame_exr_name = os.path.basename(input_depth_exr_path)
frame_exr_name_stem = os.path.splitext(
os.path.basename(frame_exr_name))[0]
frame_jpg_name = frame_exr_name_stem + '.jpg'
output_nvm_path = os.path.join(nvm_folder_path,
frame_exr_name_stem) + '.nvm'
logger.vinfo('output_nvm_path', output_nvm_path)
nvm_file_missing = not os.path.isfile(output_nvm_path)
if nvm_file_missing or not lazy:
exr_data_as_np = EXRFileHandler.parse_depth_exr_file(
input_depth_exr_path)
height, width = exr_data_as_np.shape
cam = camera_object_trajectory.get_camera(frame_jpg_name)
cam.file_name = frame_jpg_name
cam.height = height
cam.width = width
logger.vinfo('width', width)
logger.vinfo('height', height)
cameras = [cam]
coords_world_coord = cam.convert_depth_buffer_to_world_coords(
exr_data_as_np, invert_y=True)
points = []
for coord in coords_world_coord:
points.append(Point(coord=coord))
NVMFileHandler.write_nvm_file(output_nvm_path, cameras, points)
else:
logger.info('EXR FOLDER MISSING, SKIPPING ...')
logger.info('post_process_depth_output: Done')
def parse_points(json_data, image_index_to_camera_index, path_to_input_files=None, view_index_to_file_name=None):
compute_color = (not path_to_input_files is None) and (not view_index_to_file_name is None)
structure = json_data['structure']
if compute_color:
logger.info('Computing color information from files: ...')
view_index_to_image = {}
for view_index, file_name in view_index_to_file_name.items():
image_path = os.path.join(path_to_input_files, file_name)
pil_image = Image.open(image_path)
view_index_to_image[view_index] = pil_image
logger.info('Computing color information from files: Done')
logger.vinfo('view_index_to_image.keys()', view_index_to_image.keys())
points = []
for json_point in structure:
custom_point = Point()
position = json_point['value']['X']
custom_point.set_coord(np.array(position))
custom_point.id = int(json_point['key'])
custom_point.measurements = []
r = g = b = 0
# color information can only be computed if input files are provided
if compute_color:
for observation in json_point['value']['observations']:
view_index = int(observation['key'])
# REMARK: The order of ndarray.shape (first height, then width) is complimentary to
# pils image.size (first width, then height).
# That means
# height, width = segmentation_as_matrix.shape
# width, height = image.size
# Therefore: x_in_openmvg_file == x_image == y_ndarray
# and y_in_openmvg_file == y_image == x_ndarray
x_in_json_file = float(observation['value']['x'][0]) # x has index 0
y_in_json_file = float(observation['value']['x'][1]) # y has index 1
current_image = view_index_to_image[view_index]
current_r, current_g, current_b = current_image.getpixel((x_in_json_file, y_in_json_file))
r += current_r
g += current_g
b += current_b
# Measurements is a list of < Measurement >
# < Measurement > = < Image index > < Feature Index > < xy >
custom_point.measurements.append(
Measurement(
camera_index= image_index_to_camera_index[view_index],
feature_index=int(observation['value']['id_feat']),
x=x_in_json_file,
y=y_in_json_file,
x_y_are_image_coords=True))
# normalize the rgb values
amount_observations = len(json_point['value']['observations'])
r /= amount_observations
g /= amount_observations
b /= amount_observations
custom_point.set_color(np.array([r, g, b], dtype=int))
points.append(custom_point)
return points
def parse_bundler_file(input_visual_fsm_bundle_out_file_name):
# =======
# REMARK: The camera coordinate frame is transformed to
# the same camera coordinate frame used by VisualSfM
# i.e. a rotation around the x axis by 180 degree
# =======
input_file = open(input_visual_fsm_bundle_out_file_name, 'r')
# first line is just a comment, throw it away
(input_file.readline()).rstrip()
# read amount cameras and points
current_line = (input_file.readline()).rstrip()
amount_cams = 0
amount_points = 0
amount_cams, amount_points = map(int, current_line.split(' '))
print(amount_cams)
print(amount_points)
cameras = []
# for camera_index in range(0, int(amount_cams)):
for camera_index in range(0, amount_cams):
# Each camera entry <cameraI> contains the estimated camera intrinsics and extrinsics, and has the form:
# <f> <k1> <k2> [the focal length, followed by two radial distortion coeffs]
# <R> [a 3x3 matrix representing the camera rotation]
# <t> [a 3-vector describing the camera translation]
current_line = (input_file.readline()).rstrip() # read internal camera parameters
# TODO Handle Radial Distortion
focal_length = float(current_line.split(' ')[0])
camera_calibration_matrix = np.asarray(
[[focal_length, 0, 0], [0, focal_length, 0], [0, 0, 1]],
dtype=float)
# use map to convert all string numbers to floats
# python 3 requires a explicit cast from 'map object' to list
current_line = (input_file.readline()).rstrip()
first_row = list(map(float, current_line.split(' ')))
current_line = (input_file.readline()).rstrip()
second_row = list(map(float, current_line.split(' ')))
current_line = (input_file.readline()).rstrip()
third_row = list(map(float, current_line.split(' ')))
cam_rotation_matrix = np.asarray(
[first_row, second_row, third_row],
dtype=float)
# this line contains the translation vector and not the camera center
current_line = (input_file.readline()).rstrip() # read translation vector
translation_vector = np.asarray(
list(map(float, current_line.split(' '))),
dtype=float)
# Transform the camera coordinate system from the computer vision camera coordinate frame to the computer
# vision camera coordinate frame (i.e. rotate the camera matrix around the x axis by 180 degree)
# inverting the y and the z axis transform the points in the camera coordinate frame used by visualsfm
cam_rotation_matrix = TransformationCollection.invert_y_and_z_axis(cam_rotation_matrix)
translation_vector = TransformationCollection.invert_y_and_z_axis(translation_vector)
current_camera = Camera()
current_camera.set_rotation_mat(cam_rotation_matrix)
# set camera center AFTER rotation (since setting the center sets also the translation vector)
#current_camera.set_camera_center_after_rotation(center_vec)
current_camera.set_camera_translation_vector_after_rotation(translation_vector)
# from cam coordinates to world coordinates
cam_rotation_matrix_inv = np.linalg.inv(cam_rotation_matrix)
current_camera.rotation_inv_mat = cam_rotation_matrix_inv
current_camera.calibration_mat = camera_calibration_matrix
current_camera.id = camera_index
cameras.append(current_camera)
points = []
for point_index in range(0, amount_points):
current_point = Point()
# Each point entry has the form:
# <position> [a 3-vector describing the 3D position of the point]
# <color> [a 3-vector describing the RGB color of the point]
# <view list> [a list of views the point is visible in]
current_line = (input_file.readline()).rstrip() # read the 3d position
point_center = np.array(list(map(float, current_line.split(' '))))
current_point._coord = point_center
current_line = (input_file.readline()).rstrip() # read the color
point_color = np.array(list(map(int, current_line.split(' '))))
current_point._color = point_color
current_line = (input_file.readline()).rstrip() # read the view list
measurement_values = current_line.split(' ')
measurements = [measurement_values[1+i*4:1+i*4+4] for i in range(int(measurement_values[0]))]
# Remark: The last measurement is inverted, so the y axis points downwards (like in visualsfm)
current_point.measurements = [
(int(measurement[0]), int(measurement[1]), float(measurement[2]), -float(measurement[3]))
for measurement in measurements]
current_point.id = point_index
points.append(current_point)
return cameras, points
# build a rectangle around the position vector
corner_0 = pos_vec + size_ratio * dir_vec_1 - size_ratio * dir_vec_2
corner_1 = pos_vec + size_ratio * dir_vec_1 + size_ratio * dir_vec_2
corner_2 = pos_vec - size_ratio * dir_vec_1 - size_ratio * dir_vec_2
corner_3 = pos_vec - size_ratio * dir_vec_1 + size_ratio * dir_vec_2
return corner_0, corner_1, corner_2, corner_3
@staticmethod
def save_plane_in_ply_file(output_path_to_file,
pos_vec,
dir_vec_1,
dir_vec_2,
size_ratio=1):
corner_0, corner_1, corner_2, corner_3 = GeometryFileHandler.approximate_plane_by_corners(
pos_vec, dir_vec_1, dir_vec_2, size_ratio)
GeometryFileHandler.save_rectangle_in_ply_file(output_path_to_file,
corner_0, corner_1,
corner_2, corner_3)
if __name__ == '__main__':
output_path_to_file = ''
pos_vec = Point(coord=np.array([0, 0, 0]), color=[255, 0, 0])
dir_vec_1 = Point(coord=[0, 1, 0], color=[0, 255, 0])
dir_vec_2 = Point(coord=[0, 0, 1], color=[0, 0, 255])
GeometryFileHandler.save_plane_in_ply_file(output_path_to_file, pos_vec,
dir_vec_1, dir_vec_2)
def write_ply_file_from_vertex_mat(output_path_to_file, vertex_mat):
vertices = []
for entry in vertex_mat:
vertices.append(Point(coord=entry))
PLYFileHandler.write_ply_file(output_path_to_file, vertices)
max_clipping_range = 100.0
render_interface.load_vtk_mesh_or_point_cloud(poly_ifp, texture_ifp)
calibration_np_mat = cam.get_calibration_mat()
cam_to_world_mat_computer_vision = cam.get_4x4_cam_to_world_mat()
render_interface.set_active_cam_from_computer_vision_cam_to_world_mat(
cam_to_world_mat_computer_vision,
calibration_np_mat,
cam.width,
cam.height,
max_clipping_range=max_clipping_range)
principal_pt = [calibration_np_mat[0][2], calibration_np_mat[1][2]]
logger.vinfo('principal_pt', principal_pt)
render_interface.set_principal_point(principal_pt, width, height)
render_interface.render()
render_interface.write_z_buffer_to_disc(z_buffer_ofp)
render_interface.write_z_buffer_visualization_to_disc(z_buffer_viz_ofp)
world_coords_valid = render_interface.get_z_buffer_as_world_coords(
n_th_result_point=1)
points_world_coord = Point.get_points_from_coords(world_coords_valid)
ColmapFileHandler.write_colmap_model(odp=colmap_result_model_odp,
cameras=[cam],
points=points_world_coord)
render_interface.add_point_cloud(world_coords_valid)
render_interface.render_and_start()
def parse_MVS_colmap_file(mvs_colmap_ifp,
file_name_to_camera_id,
with_nxnynz=True,
n_th_point=1):
"""
:param mvs_colmap_ifp:
:return:
"""
logger.info('parse_MVS_colmap_file: ...')
logger.vinfo('mvs_colmap_ifp', mvs_colmap_ifp)
logger.vinfo('n_th_point', n_th_point)
camera_index_to_current_feature_index = defaultdict(int)
points = []
with open(mvs_colmap_ifp, 'r') as input_file:
remaining_content = input_file.readlines()
remaining_content = [x.strip() for x in remaining_content]
# first line is a comment
remaining_content = remaining_content[1:] # skipp 1 line
dense_index_to_image_name = dict()
num_dense_images = int(remaining_content[0])
remaining_content = remaining_content[1:] # skipp 1 line
for index in range(num_dense_images):
dense_index_and_image_name = remaining_content[index].split()
assert len(dense_index_and_image_name) == 2
dense_index_to_image_name[int(dense_index_and_image_name[0])] = \
dense_index_and_image_name[1]
remaining_content = remaining_content[
num_dense_images:] # skipp lines
#logger.info(dense_index_to_image_name)
# next 3 lines are comments
#logger.info(remaining_content[0])
#logger.info(remaining_content[1])
#logger.info(remaining_content[2])
remaining_content = remaining_content[3:]
dense_index_to_camera_index = {}
if file_name_to_camera_id is not None:
for dense_index, image_name in dense_index_to_image_name.items(
):
camera_id = file_name_to_camera_id[image_name]
dense_index_to_camera_index[dense_index] = camera_id
#logger.info(dense_index_to_camera_index)
# DENSE_IMAGE_ID != CAMERA_ID and DENSE_IMAGE_ID != IMAGE_ID
# POINT3D_ID, X, Y, Z, NX, NY, NZ, R, G, B, TRACK[] as (DENSE_IMAGE_ID, DENSE_COL, DENSE_ROW)
remaining_content = remaining_content[::n_th_point]
num_points = len(remaining_content)
for index, point_line in enumerate(remaining_content):
if index % 100000 == 0:
logger.pinfo(index, num_points)
point_line_elements = (point_line.rstrip()).split()
current_point = Point()
# Adjust the point_3d id w.r.t n_th_point
point_3d_id = index # int(point_line_elements[0])
current_point.id = point_3d_id
xyz_vec = list(map(float, point_line_elements[1:4]))
current_point.set_coord(xyz_vec)
if with_nxnynz:
nxnynz_vec = list(map(float, point_line_elements[4:7]))
current_point.set_normal(nxnynz_vec)
rgb_vec = list(map(int, point_line_elements[7:10]))
current_point.set_color(rgb_vec)
img_id_col_row_triples_as_str = point_line_elements[10:]
else:
rgb_vec = list(map(int, point_line_elements[4:7]))
current_point.set_color(rgb_vec)
img_id_col_row_triples_as_str = point_line_elements[7:]
assert len(img_id_col_row_triples_as_str) % 3 == 0
dense_image_ids = list(
map(int, img_id_col_row_triples_as_str[0::3]))
cols = list(map(float, img_id_col_row_triples_as_str[1::3]))
rows = list(map(float, img_id_col_row_triples_as_str[2::3]))
measurements = []
#
for dense_image_id, col, row in zip(dense_image_ids, cols,
rows):
if file_name_to_camera_id is not None:
camera_id = dense_index_to_camera_index[dense_image_id]
else:
camera_id = dense_image_id
measurement = Measurement(
camera_index=camera_id,
# Adding None here would create parsing problems
feature_index=camera_index_to_current_feature_index[
camera_id],
x=col,
y=row,
x_y_are_image_coords=True)
measurements.append(measurement)
camera_index_to_current_feature_index[camera_id] += 1
current_point.measurements = measurements
points.append(current_point)
# Detect bad point ids
point_ids = [point.id for point in points]
assert len(list(set(point_ids))) == len(point_ids)
# Compute REAL 2D image coordinates (the one of colmap are probably not correct)
#cameras_background
logger.info('parse_MVS_colmap_file: Done')
return points