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Improved exports and added documentation (colmap#47) (colmap#49)
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@Phil26AT
Phil26AT authored Mar 17, 2022
1 parent 9dcc49c commit f5082d2
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28 changes: 27 additions & 1 deletion README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -63,7 +63,6 @@ for camera_id, camera in reconstruction.cameras.items():
print(camera_id, camera)

reconstruction.write("path/to/new/reconstruction/")
reconstruction.export_PLY("path/to/new/reconstruction/reconstruction.ply")
```

The object API mirrors the COLMAP C++ library. The bindings support many other operations, for example:
Expand All @@ -81,6 +80,33 @@ tfm = reconstruction1.align_poses(reconstruction2) # transforms reconstruction1
print(tfm.rotation, tfm.translation)
```


`pycolmap` also allows exporting models to TXT/NVM//CAM/Bundler/VRML/PLY (also supports `pathlib.Path` inputs).
`skip_distortion == True` enables exporting more camera models, with the caveat of
averaging the focal length parameters.

```python
# Exports reconstruction to COLMAP text format.
reconstruction.write_text("path/to/new/reconstruction/")

# Exports in NVM format http://ccwu.me/vsfm/doc.html#nvm.
reconstruction.export_NVM("rec.nvm", skip_distortion=False)

# Creates a <img_name>.cam file for each image with pose/intrinsics information.
reconstruction.export_CAM("image_dir/", skip_distortion=False)

# Exports in Bundler format https://www.cs.cornell.edu/~snavely/bundler/.
reconstruction.export_bundler("rec.bundler.out", "rec.list.txt", skip_distortion=False)

# exports 3D points to PLY format.
reconstruction.export_PLY("rec.ply")

# Exports in VRML format https://en.wikipedia.org/wiki/VRML.
reconstruction.export_VRML("rec.images.wrl", "rec.points3D.wrl",
image_scale=1.0, image_rgb=[1.0, 0.0, 0.0])
```


## Estimators

We provide robust RANSAC-based estimators for absolute camera pose (single-camera and multi-camera-rig), essential matrix, fundamental matrix, homography, and two-view relative pose for calibrated cameras.
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9 changes: 9 additions & 0 deletions log_exceptions.h
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Expand Up @@ -115,3 +115,12 @@ void __ThrowCheckOpImpl(const char* file, const int line, const bool result, con

#define THROW_CHECK_DIR_EXISTS(path) \
THROW_CHECK_MSG(ExistsDir(path), std::string("Directory ") + path + " does not exist.");

#define THROW_CHECK_FILE_OPEN(path) \
THROW_CHECK_MSG(std::ofstream(path, std::ios::trunc).is_open(), \
std::string(": Could not open ") + path + \
". Is the path a directory or does the parent dir not exist?");

#define THROW_CHECK_HAS_FILE_EXTENSION(path, ext) \
THROW_CHECK_MSG(HasFileExtension(path,ext), \
std::string("Path ") + path + " does not match file extension " + ext + ".");
96 changes: 69 additions & 27 deletions reconstruction/reconstruction.cc
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Expand Up @@ -280,44 +280,86 @@ void init_reconstruction(py::module& m) {
.def("compute_mean_observations_per_reg_image",
&Reconstruction::ComputeMeanObservationsPerRegImage)
.def("compute_mean_reprojection_error", &Reconstruction::ComputeMeanReprojectionError)
.def("convert_to_PLY", &Reconstruction::ConvertToPLY)
// .def("convert_to_PLY", &Reconstruction::ConvertToPLY)
.def("import_PLY", overload_cast_<const std::string&>()(&Reconstruction::ImportPLY),
"Import from PLY format. Note that these import functions are\n"
"only intended for visualization of data and usable for reconstruction.")
.def("export_NVM", &Reconstruction::ExportNVM,
"Export reconstruction in NVM format.\n"
"WARNING: Can raise fatal error if the file path cannot be opened.")
.def("export_bundler", &Reconstruction::ExportBundler,
.def("export_NVM",
[](const Reconstruction& self, const py::object nvm_path, bool skip_distortion) {
std::string path = py::str(nvm_path).cast<std::string>();
THROW_CHECK_HAS_FILE_EXTENSION(path, ".nvm");
THROW_CHECK_FILE_OPEN(path);
self.ExportNVM(path, skip_distortion);
}, py::arg("output_path"), py::arg("skip_distortion") = false,
"Export reconstruction in NVM format (.nvm).\n\n"
"Only supports SIMPLE_RADIAL camera models when exporting\n"
"distortion parameters. When skip_distortion == True it supports all camera\n"
"models with the caveat that it's using the mean focal length which will be\n"
"inaccurate for camera models with two focal lengths and distortion.")
.def("export_CAM",
[](const Reconstruction& self, const py::object cam_dir, bool skip_distortion) {
std::string dir = py::str(cam_dir).cast<std::string>();
THROW_CHECK_DIR_EXISTS(dir);
self.ExportCam(dir, skip_distortion);
}, py::arg("output_dir"), py::arg("skip_distortion") = false,
"Exports in CAM format which is a simple text file that contains pose\n"
"information and camera intrinsics for each image and exports one file per\n"
"image; it does not include information on the 3D points. The format is as\n"
"follows (2 lines of text with space separated numbers):\n"
"<Tvec; 3 values> <Rotation matrix in row-major format; 9 values>\n"
"<focal_length> <k1> <k2> 1.0 <principal point X> <principal point Y>\n"
"Note that focal length is relative to the image max(width, height),\n"
"and principal points x and y are relative to width and height respectively.\n\n"
"Only supports SIMPLE_RADIAL and RADIAL camera models when exporting\n"
"distortion parameters. When skip_distortion == True it supports all camera\n"
"models with the caveat that it's using the mean focal length which will be\n"
"inaccurate for camera models with two focal lengths and distortion.")
.def("export_bundler",
[](const Reconstruction& self,
const py::object bundler_path, const py::object bundler_list_path,
bool skip_distortion) {
std::string path = py::str(bundler_path).cast<std::string>();
std::string list_path = py::str(bundler_list_path).cast<std::string>();
THROW_CHECK_HAS_FILE_EXTENSION(path, ".out");
THROW_CHECK_HAS_FILE_EXTENSION(list_path, ".txt");
THROW_CHECK_FILE_OPEN(path);
THROW_CHECK_FILE_OPEN(list_path);
self.ExportBundler(path, list_path, skip_distortion);
}, py::arg("output_path"), py::arg("list_path"),
py::arg("skip_distortion") = false,
"Export reconstruction in Bundler format.\n"
"WARNING: Can raise fatal error if the file paths cannot be opened.")
"Supports SIMPLE_PINHOLE, PINHOLE, SIMPLE_RADIAL and RADIAL camera models\n"
"when exporting distortion parameters. When skip_distortion == True it\n"
"supports all camera models with the caveat that it's using the mean focal\n"
"length which will be inaccurate for camera models with two focal lengths\n"
"and distortion.")
.def(
"export_PLY",
[](const Reconstruction& self, const std::string& path) {
std::ofstream file(path, std::ios::trunc);
THROW_CUSTOM_CHECK_MSG(file.is_open(), std::invalid_argument,
(std::string(": Could not open ") + path).c_str());
file.close();
[](const Reconstruction& self, const py::object ply_path) {
std::string path = py::str(ply_path).cast<std::string>();
THROW_CHECK_HAS_FILE_EXTENSION(path, ".ply");
THROW_CHECK_FILE_OPEN(path);
self.ExportPLY(path);
},
"Export reconstruction in PLY format.")
}, py::arg("output_path"),
"Export 3D points to PLY format (.ply).")
.def(
"export_VRML",
[](const Reconstruction& self, const std::string& images_path,
const std::string& points3D_path, const double image_scale,
[](const Reconstruction& self, const py::object images_path,
const py::object points3D_path, const double image_scale,
const Eigen::Vector3d& image_rgb) {
std::ofstream image_file(images_path, std::ios::trunc);
THROW_CUSTOM_CHECK_MSG(image_file.is_open(), std::invalid_argument,
(std::string(": Could not open ") + images_path).c_str());
image_file.close();

std::ofstream p3D_file(points3D_path, std::ios::trunc);
THROW_CUSTOM_CHECK_MSG(p3D_file.is_open(), std::invalid_argument,
(std::string(": Could not open ") + points3D_path).c_str());
p3D_file.close();

self.ExportVRML(images_path, points3D_path, image_scale, image_rgb);
std::string img_path = py::str(images_path).cast<std::string>();
std::string p3D_path = py::str(points3D_path).cast<std::string>();
THROW_CHECK_FILE_OPEN(img_path);
THROW_CHECK_FILE_OPEN(p3D_path);
THROW_CHECK_HAS_FILE_EXTENSION(img_path, ".wrl");
THROW_CHECK_HAS_FILE_EXTENSION(p3D_path, ".wrl");
self.ExportVRML(img_path, p3D_path, image_scale, image_rgb);
},
"Export reconstruction in VRML format.")
py::arg("images_path"),
py::arg("points3D_path"),
py::arg("image_scale") = 1.0,
py::arg("image_rgb") = Eigen::Vector3d(1,0,0),
"Export reconstruction in VRML format (.wrl).")
.def("extract_colors_for_image", &Reconstruction::ExtractColorsForImage,
"Extract colors for 3D points of given image. Colors will be extracted\n"
"only for 3D points which are completely black.\n\n"
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