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Use align_robust from Colmap to align reconstructions #776

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Jan 29, 2024
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Use align_robust from Colmap to align reconstructions #776

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37 changes: 30 additions & 7 deletions gtsfm/evaluation/compare_colmap_outputs.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,14 +7,19 @@
import os
from typing import Dict, List

from gtsam import Pose3
import numpy as np
import pycolmap
from gtsam import Pose3, Similarity3
from scipy.spatial.transform import Rotation

import gtsfm.runner.gtsfm_runner_base as runner_base
import gtsfm.utils.geometry_comparisons as geometry_comparisons
import gtsfm.utils.io as io_utils
import gtsfm.utils.logger as logger_utils
import gtsfm.utils.metrics as metric_utils
from gtsfm.evaluation.metrics import GtsfmMetricsGroup

logger = logger_utils.get_logger()


def load_poses(colmap_dirpath: str) -> Dict[str, Pose3]:
wTi_list, img_fnames, _, _, _, _ = io_utils.read_scene_data_from_colmap_format(colmap_dirpath)
Expand All @@ -35,6 +40,26 @@ def compare_poses(baseline_dirpath: str, eval_dirpath: str, output_dirpath: str)

common_fnames = baseline_wTi_dict.keys() & current_wTi_dict.keys()

current_reconstruction = pycolmap.Reconstruction(eval_dirpath)
baselineScurrent = Similarity3(
current_reconstruction.align_robust(
list(baseline_wTi_dict.keys()),
[wTi.translation() for wTi in baseline_wTi_dict.values()],
min_common_images=3 # int(len(common_fnames) * 0.2),
# min_inlier_ratio=0.1,
# max_error=1,
).matrix
)

current_wTi_dict = {fname: baselineScurrent.transformFrom(wTi) for fname, wTi in current_wTi_dict.items()}

aRb = baselineScurrent.rotation().matrix()
atb = baselineScurrent.translation()
rz, ry, rx = Rotation.from_matrix(aRb).as_euler("zyx", degrees=True)
logger.info("Sim(3) Rotation `aRb`: rz=%.2f deg., ry=%.2f deg., rx=%.2f deg.", rz, ry, rx)
logger.info(f"Sim(3) Translation `atb`: [tx,ty,tz]={str(np.round(atb,2))}")
logger.info("Sim(3) Scale `asb`: %.2f", float(baselineScurrent.scale()))

print(f"Baseline: {len(baseline_wTi_dict)}, current: {len(current_wTi_dict)} , common: {len(common_fnames)} poses")

baseline_wTi_list: List[Pose3] = []
Expand All @@ -43,18 +68,16 @@ def compare_poses(baseline_dirpath: str, eval_dirpath: str, output_dirpath: str)
baseline_wTi_list.append(wTi)
current_wTi_list.append(current_wTi_dict.get(fname))

aligned_curr_wTi_list, _ = geometry_comparisons.align_poses_sim3_ignore_missing(baseline_wTi_list, current_wTi_list)

i2Ui1_dict_gt = metric_utils.get_twoview_translation_directions(baseline_wTi_list)

wRi_aligned_list, wti_aligned_list = metric_utils.get_rotations_translations_from_poses(aligned_curr_wTi_list)
wRi_aligned_list, wti_aligned_list = metric_utils.get_rotations_translations_from_poses(current_wTi_list)
baseline_wRi_list, baseline_wti_list = metric_utils.get_rotations_translations_from_poses(baseline_wTi_list)

metrics = []
metrics.append(metric_utils.compute_rotation_angle_metric(wRi_aligned_list, baseline_wRi_list))
metrics.append(metric_utils.compute_translation_distance_metric(wti_aligned_list, baseline_wti_list))
metrics.append(metric_utils.compute_relative_translation_angle_metric(i2Ui1_dict_gt, aligned_curr_wTi_list))
metrics.append(metric_utils.compute_translation_angle_metric(baseline_wTi_list, aligned_curr_wTi_list))
metrics.append(metric_utils.compute_relative_translation_angle_metric(i2Ui1_dict_gt, current_wTi_list))
metrics.append(metric_utils.compute_translation_angle_metric(baseline_wTi_list, current_wTi_list))

rotation_angular_errors = metrics[0]._data
translation_angular_errors = metrics[3]._data
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