colmap

convert.py

import os
import shutil
import logging
from argparse import ArgumentParser
import shutil
import re

# This Python script is based on the shell converter script provided in the MipNerF 360 repository.
parser = ArgumentParser("Colmap converter")
parser.add_argument("--no_gpu", action='store_true')
parser.add_argument("--skip_matching", action='store_true')
parser.add_argument("--source_path", "-s", type=str, required=True)
parser.add_argument("--colmap_executable", type=str, default="")
parser.add_argument("--resize", action="store_true")
parser.add_argument("--magick_executable", type=str, default="")
parser.add_argument("--camera_posi_path", type=str)
parser.add_argument("--image_size", type=int, default=1000)
parser.add_argument("--max_num_features", type=int, default=3000)
args = parser.parse_args()
colmap_command = '"{}"'.format(args.colmap_executable) if len(args.colmap_executable) > 0 else "colmap"
magick_command = '"{}"'.format(args.magick_executable) if len(args.magick_executable) > 0 else "magick"
use_gpu = 1 if not args.no_gpu else 0

if not args.skip_matching:
    shutil.rmtree(args.source_path + "/images", ignore_errors=True)
    shutil.rmtree(args.source_path + "/distorted", ignore_errors=True)
    shutil.rmtree(args.source_path + "/sparse", ignore_errors=True)
    shutil.rmtree(args.source_path + "/stereo", ignore_errors=True)
    shutil.rmtree(args.source_path + "/distorted", ignore_errors=True)
    shutil.rmtree(args.source_path + "/distorted", ignore_errors=True)
    shutil.rmtree(args.source_path + "/distorted", ignore_errors=True)
    if os.path.exists(args.source_path + "/run-colmap-geometric.sh"):
        os.remove(args.source_path + "/run-colmap-geometric.sh")
    if os.path.exists(args.source_path + "/run-colmap-photometric.sh"):
        os.remove(args.source_path + "/run-colmap-photometric.sh")

    os.makedirs(args.source_path + "/distorted/sparse", exist_ok=True)

    ## Feature extraction
    feat_extracton_cmd = colmap_command + " feature_extractor \
        --database_path " + args.source_path + "/distorted/database.db \
        --image_path " + args.source_path + "/input \
        --ImageReader.single_camera 1 \
        --ImageReader.camera_model OPENCV \
        --SiftExtraction.max_image_size " + str(args.image_size) + " \
        --SiftExtraction.max_num_features " + str(args.max_num_features) + " \
        --SiftExtraction.use_gpu " + str(use_gpu)
    exit_code = os.system(feat_extracton_cmd)
    if exit_code != 0:
        logging.error(f"Feature extraction failed with code {exit_code}. Exiting.")
        exit(exit_code)

    ## Feature matching
    feat_matching_cmd = colmap_command + " exhaustive_matcher \
        --database_path " + args.source_path + "/distorted/database.db \
        --SiftMatching.use_gpu " + str(use_gpu)
    exit_code = os.system(feat_matching_cmd)
    if exit_code != 0:
        logging.error(f"Feature matching failed with code {exit_code}. Exiting.")
        exit(exit_code)

    ### Bundle adjustment
    # The default Mapper tolerance is unnecessarily large,
    # decreasing it speeds up bundle adjustment steps.
    mapper_cmd = (colmap_command + " mapper \
        --database_path " + args.source_path + "/distorted/database.db \
        --image_path "  + args.source_path + "/input \
        --output_path "  + args.source_path + "/distorted/sparse \
        --Mapper.ba_global_function_tolerance=0.000001")
    exit_code = os.system(mapper_cmd)
    if exit_code != 0:
        logging.error(f"Mapper failed with code {exit_code}. Exiting.")
        exit(exit_code)
    
    ### Align camera position
    if args.camera_posi_path:
        f = open(args.camera_posi_path, 'r')
        data = f.read()
        f.close()
        f = open(args.camera_posi_path, 'w')
        f.write(re.sub('#.+\n', "", data).replace(",", " "))
        f.close()

        print("==============================================================================")
        print("Align camera position")
        print("==============================================================================")
        print(data)

        aliner_cmd = (colmap_command + " model_aligner \
            --input_path "  + args.source_path + "/distorted/sparse/0 \
            --output_path "  + args.source_path + "/distorted/sparse/0 \
            --ref_images_path " + args.camera_posi_path + " \
            --ref_is_gps 0 \
            --alignment_max_error 1")
        exit_code = os.system(aliner_cmd)
        if exit_code != 0:
            logging.error(f"Alignment failed with code {exit_code}. Exiting.")
            exit(exit_code)

### Image undistortion
## We need to undistort our images into ideal pinhole intrinsics.
img_undist_cmd = (colmap_command + " image_undistorter \
    --image_path " + args.source_path + "/input \
    --input_path " + args.source_path + "/distorted/sparse/0 \
    --output_path " + args.source_path + "\
    --max_image_size " + str(args.image_size) + " \
    --output_type COLMAP")
exit_code = os.system(img_undist_cmd)
if exit_code != 0:
    logging.error(f"Mapper failed with code {exit_code}. Exiting.")
    exit(exit_code)

files = os.listdir(args.source_path + "/sparse")
os.makedirs(args.source_path + "/sparse/0", exist_ok=True)
# Copy each file from the source directory to the destination directory
for file in files:
    if file == '0':
        continue
    source_file = os.path.join(args.source_path, "sparse", file)
    destination_file = os.path.join(args.source_path, "sparse", "0", file)
    shutil.move(source_file, destination_file)

if(args.resize):
    print("Copying and resizing...")

    # Resize images.
    os.makedirs(args.source_path + "/images_2", exist_ok=True)
    os.makedirs(args.source_path + "/images_4", exist_ok=True)
    os.makedirs(args.source_path + "/images_8", exist_ok=True)
    # Get the list of files in the source directory
    files = os.listdir(args.source_path + "/images")
    # Copy each file from the source directory to the destination directory
    for file in files:
        source_file = os.path.join(args.source_path, "images", file)

        destination_file = os.path.join(args.source_path, "images_2", file)
        shutil.copy2(source_file, destination_file)
        exit_code = os.system(magick_command + " mogrify -resize 50% " + destination_file)
        if exit_code != 0:
            logging.error(f"50% resize failed with code {exit_code}. Exiting.")
            exit(exit_code)

        destination_file = os.path.join(args.source_path, "images_4", file)
        shutil.copy2(source_file, destination_file)
        exit_code = os.system(magick_command + " mogrify -resize 25% " + destination_file)
        if exit_code != 0:
            logging.error(f"25% resize failed with code {exit_code}. Exiting.")
            exit(exit_code)

        destination_file = os.path.join(args.source_path, "images_8", file)
        shutil.copy2(source_file, destination_file)
        exit_code = os.system(magick_command + " mogrify -resize 12.5% " + destination_file)
        if exit_code != 0:
            logging.error(f"12.5% resize failed with code {exit_code}. Exiting.")
            exit(exit_code)

print("Done.")