def install_pip(self, lazy, op=None):
"""Install pip."""
try:
if lazy and self.pip_dependency_status.installation_status:
import pip
log_report(
"INFO",
"Pip already installed. Using existing pip installation" +
f" ({pip.__version__})",
op=op,
)
return
except:
pass
log_report("INFO", "Installing pip!", op=op)
import os
import ensurepip
# https://github.com/robertguetzkow/blender-python-examples/blob/master/add-ons/install-dependencies/install-dependencies.py
# Note that ensurepip.bootstrap() calls pip, which adds the
# environment variable PIP_REQ_TRACKER. After ensurepip.bootstrap()
# finishes execution, the directory is deleted.
# However, any subprocesses calling pip will use the environment
# variable PIP_REQ_TRACKER (which points to an invalid path).
# Thus, we need to remove the invalid environment variable.
ensurepip.bootstrap()
os.environ.pop("PIP_REQ_TRACKER", None)
self.pip_dependency_status.installation_status = True
def redraw_points(dummy):
"""Redraw points of the previous Blender session."""
# This test is very cheap, so it will not cause
# huge overheads for scenes without point clouds
if "contains_opengl_point_clouds" in bpy.context.scene:
log_report(
"INFO",
"Checking scene for missing point cloud draw handlers",
op=None,
)
for obj in bpy.data.objects:
if "particle_coords" in obj and "particle_colors" in obj:
coords = obj["particle_coords"]
colors = obj["particle_colors"]
draw_manager = DrawManager.get_singleton()
draw_manager.register_points_draw_callback(obj, coords, colors)
viz_point_size = (
bpy.context.scene.opengl_panel_settings.viz_point_size)
draw_manager.set_point_size(viz_point_size)
for area in bpy.context.screen.areas:
if area.type == "VIEW_3D":
area.tag_redraw()
break
def _get_computer_vision_camera_matrix(self, blender_camera):
# Only if the objects have a scale of 1, the 3x3 part
# of the corresponding matrix_world contains a pure rotation.
# Otherwise, it also contains scale or shear information
if not np.allclose(tuple(blender_camera.scale), (1, 1, 1)):
log_report(
"ERROR",
"blender_camera.scale: " + str(blender_camera.scale),
self,
)
assert False
camera_matrix = np.array(blender_camera.matrix_world)
gt_camera_rotation_inverse = camera_matrix.copy()[0:3, 0:3]
gt_camera_rotation = gt_camera_rotation_inverse.T
# Important: Blender uses a camera coordinate frame system, which looks
# down the negative z-axis. This differs from the camera coordinate
# systems used by most SfM tools/frameworks. Thus, rotate the camera
# rotation matrix by 180 degrees (i.e. invert the y and z axis).
gt_camera_rotation = invert_y_and_z_axis(gt_camera_rotation)
gt_camera_rotation_inverse = gt_camera_rotation.T
rotated_camera_matrix_around_x_by_180 = camera_matrix.copy()
rotated_camera_matrix_around_x_by_180[0:3,
0:3] = gt_camera_rotation_inverse
return rotated_camera_matrix_around_x_by_180
def _add_camera_intrinsics_animation(animated_obj_name,
intrinsics_sorted,
number_interpolation_frames,
op=None):
log_report("INFO", "Adding camera intrinsic parameter animation: ...", op)
step_size = number_interpolation_frames + 1
animated_obj = bpy.data.objects[animated_obj_name]
for index, intrinsics in enumerate(intrinsics_sorted):
current_keyframe_index = (index + 1) * step_size
if intrinsics is None:
continue
animated_obj.data.angle = intrinsics.field_of_view
animated_obj.data.shift_x = intrinsics.shift_x
animated_obj.data.shift_y = intrinsics.shift_y
animated_obj.data.keyframe_insert(data_path="lens",
index=-1,
frame=current_keyframe_index)
animated_obj.data.keyframe_insert(data_path="shift_x",
index=-1,
frame=current_keyframe_index)
animated_obj.data.keyframe_insert(data_path="shift_y",
index=-1,
frame=current_keyframe_index)
log_report("INFO", "Adding camera intrinsic parameter animation: Done", op)
def _parse_points_from_json_data(json_data, image_index_to_camera_index,
op):
points = []
is_valid_file = "structure" in json_data
if not is_valid_file:
log_report(
"ERROR",
"FILE FORMAT ERROR: Incorrect SfM/JSON file. Must contain " +
" the SfM reconstruction results: structure.",
op,
)
return points
structure = json_data["structure"]
for json_point in structure:
custom_point = Point(
coord=np.array(json_point["X"], dtype=float),
color=np.array(json_point["color"], dtype=int),
id=int(json_point["landmarkId"]),
scalars=[],
)
points.append(custom_point)
return points
def adjust_render_settings_if_possible(cameras, op=None):
"""Adjust the render settings according to the camera parameters."""
if len(cameras) == 0:
return
possible = True
width = cameras[0].width
height = cameras[0].height
# Check if the cameras have same resolution
for cam in cameras:
if cam.width != width or cam.height != height:
possible = False
break
if possible:
bpy.context.scene.render.resolution_x = width
bpy.context.scene.render.resolution_y = height
else:
log_report(
"WARNING",
"Adjustment of render settings not possible, " +
"since the reconstructed cameras show different resolutions.",
op,
)
def _get_mesh_fp(cls, mesh_node_type, cache_dp, json_graph,
mesh_node_number, op):
if mesh_node_type == "Texturing":
mesh_fp = cls._get_node_data_fp(
cache_dp,
json_graph,
"Texturing",
mesh_node_number,
"texturedMesh.obj",
op,
)
elif mesh_node_type == "MeshFiltering":
mesh_fp = cls._get_node_data_fp(
cache_dp,
json_graph,
"MeshFiltering",
mesh_node_number,
"mesh.obj",
op,
)
elif mesh_node_type == "Meshing":
mesh_fp = cls._get_node_data_fp(
cache_dp,
json_graph,
"Meshing",
mesh_node_number,
"mesh.obj",
op,
)
elif mesh_node_type == "AUTOMATIC":
mesh_fp = cls._get_node_data_fp(
cache_dp,
json_graph,
"Texturing",
mesh_node_number,
"texturedMesh.obj",
op,
)
if mesh_fp is None:
mesh_fp = cls._get_node_data_fp(
cache_dp,
json_graph,
"MeshFiltering",
mesh_node_number,
"mesh.obj",
op,
)
if mesh_fp is None:
mesh_fp = cls._get_node_data_fp(
cache_dp,
json_graph,
"Meshing",
mesh_node_number,
"mesh.obj",
op,
)
else:
log_report("ERROR", "Select Mesh node is not supported!", op)
assert False
return mesh_fp
def execute(self, context):
"""Export a screenshot (of the 3D view)."""
log_report("INFO", "Export screenshot: ...", self)
panel_settings = context.scene.opengl_panel_settings
filename_ext = panel_settings.screenshot_file_format
ofp = self.filepath + "." + filename_ext
# Get panel settings
full_screenshot = not panel_settings.only_3d_view
use_camera_perspective = panel_settings.use_camera_perspective
# Cache previous settings
previous_cam = bpy.context.scene.camera
area_3d = next(area for area in bpy.context.screen.areas
if area.type == "VIEW_3D")
previous_perspective = area_3d.spaces[0].region_3d.view_perspective
# Create Screenshot
selected_cam = get_selected_camera()
if use_camera_perspective and selected_cam is not None:
bpy.context.scene.camera = selected_cam
area_3d.spaces[0].region_3d.view_perspective = "CAMERA"
_update_ui(context)
bpy.ops.screen.screenshot(filepath=ofp,
full=full_screenshot,
check_existing=False)
# Restore previous settings
area_3d.spaces[0].region_3d.view_perspective = previous_perspective
bpy.context.scene.camera = previous_cam
log_report("INFO", "Export screenshot: Done", self)
return {"FINISHED"}
def parse_colmap_model_folder(
model_idp,
image_dp,
image_fp_type,
depth_map_idp=None,
suppress_distortion_warnings=False,
op=None,
):
"""Parse a :code:`Colmap` model."""
log_report("INFO", "Parse Colmap model folder: " + model_idp, op)
assert ColmapFileHandler._is_valid_model_folder(model_idp)
ext = ColmapFileHandler._get_model_folder_ext(model_idp)
# cameras represent information about the camera model
# images contain pose information
id_to_col_cameras, id_to_col_images, id_to_col_points3D = read_model(
model_idp, ext=ext)
cameras = ColmapFileHandler._convert_cameras(
id_to_col_cameras,
id_to_col_images,
image_dp,
image_fp_type,
depth_map_idp,
suppress_distortion_warnings,
op,
)
points3D = ColmapFileHandler._convert_points(id_to_col_points3D)
return cameras, points3D
def execute(self, context):
"""Install all optional dependencies."""
try:
dependency_manager = OptionalDependencyManager.get_singleton()
dependency_manager.install_dependencies()
except (subprocess.CalledProcessError, ImportError) as err:
log_report("ERROR", str(err))
return {"CANCELLED"}
return {"FINISHED"}
def unregister():
"""Unregister importers, exporters and panels."""
bpy.utils.unregister_class(AddonPreferences)
Registration.unregister_importers()
Registration.unregister_exporters()
bpy.utils.unregister_class(OpenGLPanel)
log_report("INFO", "Unregistered {}".format(bl_info["name"]))
def execute(self, context):
"""Reset import options to factory settings."""
log_report("INFO", "Reset preferences: ...", self)
addon_name = _get_addon_name()
import_export_prefs = bpy.context.preferences.addons[
addon_name].preferences
import_export_prefs.reset_import_options()
log_report("INFO", "Reset preferences: Done", self)
return {"FINISHED"}
def _draw_points_callback(self, draw_manager, object_anchor, positions,
colors):
"""A callback function to draw a point cloud in Blender's 3D view."""
handle_is_valid = True
try:
# Check if object still exists
object_anchor_name = object_anchor.name
except:
handle_is_valid = False
if handle_is_valid:
if object_anchor_name in bpy.data.objects:
# Use the visibility of the object to enable /
# disable the drawing of the point cloud
if bpy.data.objects[object_anchor_name].visible_get():
# Update the batch depending on the anchor pose (only if
# necessary)
object_anchor_has_changed = not np.array_equal(
self._object_anchor_pose_previous,
object_anchor.matrix_world,
)
if self._batch_cached is None or object_anchor_has_changed:
self._object_anchor_pose_previous = np.copy(
object_anchor.matrix_world)
transf_pos_list = _compute_transformed_coords(
object_anchor.matrix_world, positions)
self._batch_cached = batch_for_shader(
self._shader,
"POINTS",
{
"pos": transf_pos_list,
"color": colors
},
)
self._shader.bind()
bgl.glPointSize(self._point_size)
bgl.glEnable(bgl.GL_DEPTH_TEST)
bgl.glDepthMask(bgl.GL_TRUE)
self._batch_cached.draw(self._shader)
else:
log_report("INFO",
"Removing draw handler of deleted point cloud handle")
if self._draw_handler_handle is not None:
bpy.types.SpaceView3D.draw_handler_remove(
self._draw_handler_handle, "WINDOW")
self._draw_handler_handle = None
self._batch_cached = None
draw_manager.delete_anchor(object_anchor)
def _add_transformation_animation(
animated_obj_name,
transformations_sorted,
number_interpolation_frames,
interpolation_type=None,
remove_rotation_discontinuities=True,
op=None,
):
log_report("INFO", "Adding transformation animation: ...", op)
scene = bpy.context.scene
scene.frame_start = 0
step_size = number_interpolation_frames + 1
scene.frame_end = step_size * len(transformations_sorted)
animated_obj = bpy.data.objects[animated_obj_name]
for index, transformation in enumerate(transformations_sorted):
# log_report('INFO', 'index: ' + str(index), op)
# log_report('INFO', 'transformation: ' + str(transformation), op)
current_keyframe_index = (index + 1) * step_size
if transformation is None:
continue
animated_obj.matrix_world = Matrix(transformation)
animated_obj.keyframe_insert(data_path="location",
index=-1,
frame=current_keyframe_index)
# Don't use euler rotations, they show too many discontinuties
# animated_obj.keyframe_insert(
# data_path="rotation_euler",
# index=-1,
# frame=current_keyframe_index)
animated_obj.rotation_mode = "QUATERNION"
animated_obj.keyframe_insert(
data_path="rotation_quaternion",
index=-1,
frame=current_keyframe_index,
)
if remove_rotation_discontinuities:
# q and -q represent the same rotation
_remove_quaternion_discontinuities(animated_obj)
if interpolation_type is not None:
_set_fcurve_interpolation(animated_obj, interpolation_type)
log_report("INFO", "Adding transformation animation: Done", op)
def execute(self, context):
"""Import a file with point data (e.g. :code:`PLY`)."""
path = os.path.join(self.directory, self.filepath)
log_report("INFO", "path: " + str(path), self)
points = PointDataFileHandler.parse_point_data_file(path, self)
log_report("INFO", "Number points: " + str(len(points)), self)
reconstruction_collection = add_collection("Reconstruction Collection")
self.import_photogrammetry_points(points, reconstruction_collection)
self.apply_general_options()
return {"FINISHED"}
def execute(self, context):
"""Import an :code:`OpenMVG` :code:`JSON` file."""
path = os.path.join(self.directory, self.filepath)
log_report("INFO", "path: " + str(path), self)
self.image_dp = self.get_default_image_path(path, self.image_dp)
log_report("INFO", "image_dp: " + str(self.image_dp), self)
cameras, points = OpenMVGJSONFileHandler.parse_openmvg_file(
path,
self.image_dp,
self.image_fp_type,
self.suppress_distortion_warnings,
self,
)
log_report("INFO", "Number cameras: " + str(len(cameras)), self)
log_report("INFO", "Number points: " + str(len(points)), self)
reconstruction_collection = add_collection("Reconstruction Collection")
self.import_photogrammetry_cameras(cameras, reconstruction_collection)
self.import_photogrammetry_points(points, reconstruction_collection)
self.apply_general_options()
return {"FINISHED"}
def register():
"""Register importers, exporters and panels."""
bpy.utils.register_class(AddonPreferences)
import_export_prefs = bpy.context.preferences.addons[__name__].preferences
Registration.register_importers(import_export_prefs)
Registration.register_exporters(import_export_prefs)
bpy.utils.register_class(OpenGLPanel)
log_report(
"INFO",
"Registered {} with {} modules".format(bl_info["name"], len(modules)),
)
def parse_opensfm_file(
input_opensfm_fp,
image_dp,
image_fp_type,
reconstruction_idx,
suppress_distortion_warnings=False,
op=None,
):
"""Parse a :code:`OpenSfM` (:code:`.json`) file."""
log_report("INFO", "parse_opensfm_file: ...", op)
log_report("INFO", "input_opensfm_fp: " + input_opensfm_fp, op)
input_file = open(input_opensfm_fp, "r")
json_data = json.load(input_file)
reconstruction_data = json_data[reconstruction_idx]
if len(json_data) > 1:
log_report(
"WARNING",
"OpenSfM file contains multiple reconstructions. Only " +
f" reconstruction with index {reconstruction_idx} is" +
" imported.",
op,
)
cams = OpenSfMJSONFileHandler._parse_cameras(
reconstruction_data,
image_dp,
image_fp_type,
suppress_distortion_warnings,
op,
)
points = OpenSfMJSONFileHandler._parse_points(reconstruction_data, op)
log_report("INFO", "parse_opensfm_file: Done", op)
return cams, points
def parse_open3d_file(open3d_ifp, image_dp, image_fp_type, op):
"""Parse an :code:`Open3D` (:code:`.json` or :code:`.log`) file.
The :code:`.json` format supports intrinsics as well as
extrinsic parameters, whereas the :code:`.log` (`Redwood
<http://redwood-data.org/indoor/fileformat.html>`_) format contains
only extrinsic parameters.
"""
log_report("INFO", "parse_open3d_file: ...", op)
log_report("INFO", "open3d_ifp: " + open3d_ifp, op)
log_report("INFO", "image_dp: " + image_dp, op)
image_relative_fp_list = get_image_file_paths_in_dir(
image_dp,
relative_path_only=True,
without_ext=False,
sort_result=True,
recursive=True,
)
cams = []
if os.path.splitext(open3d_ifp)[1].lower() == ".json":
cams = Open3DFileHandler._parse_open3d_json_file(
open3d_ifp, image_dp, image_relative_fp_list, image_fp_type,
op)
elif os.path.splitext(open3d_ifp)[1].lower() == ".log":
cams = Open3DFileHandler._parse_open3d_log_file(
open3d_ifp, image_dp, image_relative_fp_list, image_fp_type,
op)
else:
assert False
log_report("INFO", "parse_open3d_file: Done", op)
return cams
def execute(self, context):
"""Import a :code:`Colmap` model/workspace."""
path = self.directory
# Remove trailing slash
path = os.path.dirname(path)
log_report("INFO", "path: " + str(path), self)
self.image_dp = self.get_default_image_path(path, self.image_dp)
cameras, points, mesh_ifp = ColmapFileHandler.parse_colmap_folder(
path,
self.use_workspace_images,
self.image_dp,
self.image_fp_type,
self.suppress_distortion_warnings,
self,
)
log_report("INFO", "Number cameras: " + str(len(cameras)), self)
log_report("INFO", "Number points: " + str(len(points)), self)
log_report("INFO", "Mesh file path: " + str(mesh_ifp), self)
reconstruction_collection = add_collection("Reconstruction Collection")
self.import_photogrammetry_cameras(cameras, reconstruction_collection)
self.import_photogrammetry_points(points, reconstruction_collection)
self.import_photogrammetry_mesh(mesh_ifp, reconstruction_collection)
self.apply_general_options()
return {"FINISHED"}
def set_intrinsics_of_cameras(self, cameras):
"""Enhances the imported cameras with intrinsic information.
Overwrites the method in :code:`CameraImporter`.
"""
intrinsic_missing = False
for cam in cameras:
if not cam.has_intrinsics():
intrinsic_missing = True
break
if not intrinsic_missing:
log_report("INFO", "Using intrinsics from file (.json).", self)
return cameras, True
else:
log_report(
"INFO",
"Using intrinsics from user options, since not present in the"
+ " reconstruction file (.log).",
self,
)
if math.isnan(self.default_focal_length):
log_report(
"ERROR",
"User must provide the focal length using the import" +
" options.",
self,
)
return [], False
if math.isnan(self.default_pp_x) or math.isnan(self.default_pp_y):
log_report(
"WARNING",
"Setting the principal point to the image center.",
self,
)
for cam in cameras:
if math.isnan(self.default_pp_x) or math.isnan(
self.default_pp_y):
# If no images are provided, the user must provide a
# default principal point
assert cam.width is not None
# If no images are provided, the user must provide a
# default principal point
assert cam.height is not None
default_cx = cam.width / 2.0
default_cy = cam.height / 2.0
else:
default_cx = self.default_pp_x
default_cy = self.default_pp_y
intrinsics = Camera.compute_calibration_mat(
focal_length=self.default_focal_length,
cx=default_cx,
cy=default_cy,
)
cam.set_calibration_mat(intrinsics)
return cameras, True
def parse_visualsfm_file(
cls,
input_visual_fsm_file_name,
image_dp,
image_fp_type,
suppress_distortion_warnings,
op=None,
):
"""Parse a :code:`VisualSfM` (:code:`.nvm`) file."""
log_report("INFO", "Parse NVM file: " + input_visual_fsm_file_name, op)
input_file = open(input_visual_fsm_file_name, "r")
# Documentation of *.NVM data format
# http://ccwu.me/vsfm/doc.html#nvm
# In a simple case there is only one model
# Each reconstructed <model> contains the following
# <Number of cameras> <List of cameras>
# <Number of 3D points> <List of points>
# Read the first two lines (fixed)
current_line = (input_file.readline()).rstrip()
calibration_matrix = cls._parse_fixed_calibration(current_line, op)
current_line = (input_file.readline()).rstrip()
assert current_line == ""
amount_cameras = int((input_file.readline()).rstrip())
log_report(
"INFO",
"Amount Cameras (Images in NVM file): " + str(amount_cameras),
op,
)
cameras = cls._parse_cameras(
input_file,
amount_cameras,
calibration_matrix,
image_dp,
image_fp_type,
suppress_distortion_warnings,
op,
)
current_line = (input_file.readline()).rstrip()
assert current_line == ""
current_line = (input_file.readline()).rstrip()
if current_line.isdigit():
amount_points = int(current_line)
log_report(
"INFO",
"Amount Sparse Points (Points in NVM file): " +
str(amount_points),
op,
)
points = cls._parse_nvm_points(input_file, amount_points)
else:
points = []
log_report("INFO", "Parse NVM file: Done", op)
return cameras, points
def _get_node(cls, json_graph, node_type, node_number, op):
if node_number == -1:
return cls._get_latest_node(json_graph, node_type)
else:
node_key = node_type + "_" + str(node_number)
if node_key in json_graph:
return json_graph[node_key]
else:
log_report(
"ERROR",
"Invalid combination of node type (i.e. " + node_type +
") " + "and node number (i.e. " + str(node_number) +
") provided",
op,
)
assert False
def add_command_line_sys_path_if_necessary(dummy):
"""Function that extends Blender's sys.path if necessary"""
dependency_manager = OptionalDependencyManager.get_singleton()
dependencies = dependency_manager.get_dependencies()
installed = any(dependency.installation_status
for dependency in dependencies)
if installed:
log_report("INFO",
"Found installed dependencies. Going to adjust sys.path.")
add_command_line_sys_path()
else:
log_report(
"INFO",
"Found no installed dependencies. Not going to adjust sys.path.",
)
def _set_principal_point_for_cameras(cameras,
default_pp_x,
default_pp_y,
op=None):
if not math.isnan(default_pp_x) and not math.isnan(default_pp_y):
log_report("WARNING",
"Setting principal points to default values!", op)
else:
log_report("WARNING", "Setting principal points to image centers!",
op)
assert (cameras[0].width is not None
and cameras[0].height is not None)
default_pp_x = cameras[0].width / 2.0
default_pp_y = cameras[0].height / 2.0
for camera in cameras:
if not camera.has_principal_point():
camera.set_principal_point([default_pp_x, default_pp_y])
def execute(self, context):
"""Activate and deactivate importers and exporters.
Uses the selected options of :class:`.AddonPreferences` to determine
active and inactive importers and exporters.
"""
log_report("INFO", "Update importers and exporters: ...", self)
addon_name = _get_addon_name()
import_export_prefs = bpy.context.preferences.addons[
addon_name].preferences
Registration.unregister_importers()
Registration.register_importers(import_export_prefs)
Registration.unregister_exporters()
Registration.register_exporters(import_export_prefs)
log_report("INFO", "Update importers and exporters: Done", self)
return {"FINISHED"}
def apply_general_options(self):
"""Apply the options defined by this class."""
if self.adjust_clipping_distance:
log_report("INFO", "Adjust clipping distance of 3D view: ...",
self)
active_space = None
for area in bpy.context.screen.areas:
if area.type == "VIEW_3D":
active_space = area.spaces.active
break
# Setting "active_space.clip_end" to values close to "sys.maxsize"
# causes strange graphical artifacts in the 3D view.
if sys.maxsize == 2**63 - 1:
# 2**(63-8) = 2**55 works without artifacts
active_space.clip_end = 2**55 - 1
else:
active_space.clip_end = 2**23 - 1
log_report("INFO", "Adjust clipping distance of 3D view: Done",
self)
def get_additional_command_line_sys_path():
"""Function that retrieves additional sys.path of the command line"""
script_str = "import sys; import json; pickled_str = json.dumps(sys.path); print(pickled_str)"
result = subprocess.run(
[_get_python_exe_path(), "-c", script_str],
stdout=PIPE,
stderr=PIPE,
)
command_line_sys_paths = json.loads(result.stdout)
blender_sys_paths = copy.deepcopy(sys.path)
additional_system_paths = []
for command_line_sys_path in command_line_sys_paths:
if command_line_sys_path not in blender_sys_paths:
if command_line_sys_path != "":
log_report("INFO",
f"Add missing sys.path: {command_line_sys_path}")
additional_system_paths.append(command_line_sys_path)
return additional_system_paths
def _get_sfm_fp(cls, sfm_node_type, cache_dp, json_graph, sfm_node_number,
op):
if sfm_node_type == "ConvertSfMFormatNode":
sfm_fp = cls._get_node_data_fp(
cache_dp,
json_graph,
"ConvertSfMFormat",
sfm_node_number,
["sfm.sfm", "sfm.json"],
op,
)
elif sfm_node_type == "StructureFromMotionNode":
sfm_fp = cls._get_node_data_fp(
cache_dp,
json_graph,
"StructureFromMotion",
sfm_node_number,
"cameras.sfm",
op,
)
elif sfm_node_type == "AUTOMATIC":
sfm_fp = cls._get_node_data_fp(
cache_dp,
json_graph,
"ConvertSfMFormat",
sfm_node_number,
["sfm.sfm", "sfm.json"],
op,
)
if sfm_fp is None:
sfm_fp = cls._get_node_data_fp(
cache_dp,
json_graph,
"StructureFromMotion",
sfm_node_number,
"cameras.sfm",
op,
)
else:
log_report("ERROR", "Selected SfM node is not supported", op)
assert False
return sfm_fp
def parse_transformation_folder(t_idp, op=None):
"""Parse a directory with files storing transformations."""
if not os.path.isdir(t_idp):
return []
t_fps = sorted([
os.path.join(t_idp, fn) for fn in os.listdir(t_idp)
if os.path.isfile(os.path.join(t_idp, fn))
and os.path.splitext(fn)[1] == ".txt"
])
transformations_sorted = []
for t_fp in t_fps:
log_report("INFO", "transformation file path: " + t_fp, op)
trans_mat = np.loadtxt(t_fp, dtype="f", delimiter=" ")
# log_report('INFO', 'transformation mat: ' + str(trans_mat), op)
transformations_sorted.append(trans_mat)
return transformations_sorted
