support for reconstruction of colmap datasets

README.md

@@ -58,7 +58,7 @@ If you use the covisibility-based matching method for your research, please cite
 
 3.Run the following script to automatically reconstruction:
 ```
-python3 ./scripts/auto_reconstruction.py --workspace_path ${workspace_path}$
+python3 ./scripts/run_test_data.py --workspace_path ${workspace_path}$
 ```
 Refer to [tutorial.md](docs/en/tutorial.md) for more details.
 

README_CN.md

@@ -55,7 +55,7 @@ XRSfM 是一个开源的运动恢复结构代码仓库，它是[OpenXRLab](https
 
 3.运行以下脚本进行重建:
 ```
-python3 ./scripts/auto_reconstruction.py --workspace_path ${workspace_path}$
+python3 ./scripts/run_test_data.py --workspace_path ${workspace_path}$
 ```
 更多细节请查看[tutorial.md](docs/zh/tutorial.md)
 

docs/en/tutorial.md

@@ -126,5 +126,5 @@ workspace
 ```
 Then run the following command line to reconstruct
 ```
-python3 ./scripts/auto_reconstruction.py --workspace_path ${workspace_path}$ --estimate_scale
+python3 ./scripts/run_test_data.py --workspace_path ${workspace_path}$ --estimate_scale
 ```

docs/zh/tutorial.md

@@ -130,5 +130,5 @@ workspace
 ```
 然后通过以下脚本达到相同的效果。
 ```
-python3 ./scripts/auto_reconstruction.py --workspace_path ${workspace_path}$ --estimate_scale
+python3 ./scripts/run_test_data.py --workspace_path ${workspace_path}$ --estimate_scale
 ```

scripts/auto_reconstruction.py → scripts/run_test_data.py

@@ -6,13 +6,24 @@ def get_opts():
     parser = ArgumentParser()
     parser.add_argument('--workspace_path', type=str, required=True,
                         help='workspace_path')
-    # parser.add_argument('--start_from_ios_binary',action='store_true',
-    #                     help='estimate_scale')
     parser.add_argument('--estimate_scale', action='store_true',
                         help='estimate_scale')
+    # parser.add_argument('--start_from_ios_binary',action='store_true',
+    #                     help='estimate_scale')
     return parser.parse_args()
 
 
+def change_camera_txt_format(data_path):
+    with open(data_path+'/camera.txt', 'r') as file:
+        line = file.readline()
+
+    space_index1 = line.find(' ')
+    space_index2 = line.find(' ', space_index1 + 1)
+
+    with open(data_path+'/camera_colmap.txt', 'w') as file:
+        file.write(f'0 RADIAL 1440 1920 {line[space_index2+1:]}')
+
+
 if __name__ == '__main__':
     args = get_opts()
 
@@ -22,18 +33,21 @@ def get_opts():
         data_path = data_path+'/'
 
     images_path = data_path+'images/'
-    camera_path = data_path+'camera.txt'
+    camera_path = data_path+'camera_colmap.txt'
     retrieval_path = data_path+'retrieval.txt'
 
     output_path = data_path
 
     # if(args.start_from_ios_binary):
     #     ios_file = data_path+'Data.txt'
     #     os.system('./bin/unpack_collect_data '+ios_file+' '+data_path)
+    change_camera_txt_format(data_path)
+
     os.system('./bin/run_matching ' + images_path + ' ' + retrieval_path
               + ' sequential ' + output_path)
     os.system('./bin/run_reconstruction ' + output_path + ' '
               + camera_path + ' ' + output_path)
+
     if (args.estimate_scale):
         output_refined_path = data_path+'refined/'
         if not os.path.exists(output_refined_path):

src/base/camera.hpp

@@ -10,6 +10,24 @@ namespace xrsfm {
 class Camera {
   public:
     Camera() {}
+    Camera(int _id, std::string mode_name, int w, int h) {
+        id_ = _id;
+        width_ = w;
+        height_ = h;
+        if (mode_name == "SIMPLE_PINHOLE") {
+            model_id_ = 0;
+        } else if (mode_name == "PINHOLE") {
+            model_id_ = 1;
+        } else if (mode_name == "SIMPLE_RADIAL") {
+            model_id_ = 2;
+        } else if (mode_name == "RADIAL") {
+            model_id_ = 3;
+        } else if (mode_name == "OPENCV") {
+            model_id_ = 4;
+        }
+        params_.resize(camera_model_param_size(model_id_));
+        is_valid = true;
+    }
     Camera(int _id, int _model_id) {
         id_ = _id;
         model_id_ = _model_id;
@@ -26,6 +44,7 @@ class Camera {
 
     uint32_t id_ = -1;
     uint32_t model_id_ = -1;
+    int width_, height_;
     std::vector<double> params_;
     bool is_valid;
 

src/base/camera_model.hpp

@@ -219,17 +219,6 @@ struct OpenCVCameraModel {
 
 #endif
 
-inline int camera_model_param_size(int model_id) {
-#define CAMERA_MODEL_CASE(CameraModel)                                         \
-    if (model_id == CameraModel::kModelId)                                     \
-        return CameraModel::kNumParams;
-
-    CAMERA_MODEL_CASES
-#undef CAMERA_MODEL_CASE
-    assert(false);
-    return -1;
-}
-
 inline int index_fx(int model_id) {
 #define CAMERA_MODEL_CASE(CameraModel)                                         \
     if (model_id == CameraModel::kModelId)                                     \
@@ -285,5 +274,16 @@ inline int index_distort(int model_id) {
     return -1;
 };
 
+inline int camera_model_param_size(int model_id) {
+#define CAMERA_MODEL_CASE(CameraModel)                                         \
+    if (model_id == CameraModel::kModelId)                                     \
+        return CameraModel::kNumParams;
+
+    CAMERA_MODEL_CASES
+#undef CAMERA_MODEL_CASE
+    assert(false);
+    return -1;
+}
+
 } // namespace xrsfm
 #endif

src/base/map.h

@@ -115,9 +115,6 @@ class CorrespondenceGraph {
 
 class Map {
   public:
-    std::vector<cv::Mat> images_; // for debug
-
-    // std::vector<Camera> cameras_;
     std::vector<Track> tracks_;
     std::vector<Frame> frames_;
     std::vector<FramePair> frame_pairs_;

src/feature/feature_extraction.cc

@@ -14,7 +14,6 @@
 #include "optim/loransac.h"
 #include "optim/ransac.h"
 #include "sift_extractor.h"
-#include "utility/io_ecim.hpp"
 #include "utility/timer.h"
 
 namespace xrsfm {
@@ -38,7 +37,8 @@ void FeatureExtract(const std::string &image_dir_path,
     for (int i = 0; i < frames.size(); i++) {
         Frame &frame = frames[i];
         frame.keypoints_.clear();
-        const cv::Mat image = cv::imread(image_dir_path + frame.name);
+        const cv::Mat image = cv::imread(image_dir_path + frame.name,
+                                         cv::IMREAD_IGNORE_ORIENTATION);
         if (image.rows == 0) {
             std::cout << "Can't read " << image_dir_path + frame.name
                       << std::endl;

src/feature/feature_processing.cc

@@ -16,7 +16,6 @@
 #include "optim/loransac.h"
 #include "optim/ransac.h"
 #include "sift_extractor.h"
-#include "utility/io_ecim.hpp"
 #include "utility/timer.h"
 #include "match_expansion.h"
 

src/geometry/error_corrector.h

@@ -12,21 +12,11 @@ inline double ToDeg(double theta) { return theta * 180 / M_PI; }
 
 class ErrorDetector {
   public:
-    Init(std::string image_dir, bool debug) {
-        debug_ = debug;
-        image_dir_ = image_dir;
-    };
-
     bool CheckAllRelativePose(Map &map, int frame_id,
                               std::set<int> &bad_matched_frame_ids);
     bool IsGoodRelativePose(const Map &map, const FramePair &fp,
                             std::vector<char> &inlier_mask);
-    void IsGoodRelativePose_Debug(Map &map, FramePair &fp,
-                                  const std::vector<char> &inlier_mask);
-    // void StoreRelativePose(Map &map, int frame_id, std::ofstream &file);
 
-    bool debug_;
-    // ViewerThread *viewerTh_;
     std::string image_dir_;
 };
 

src/geometry/error_detector.cc

@@ -100,29 +100,6 @@ bool ErrorDetector::IsGoodRelativePose(const Map &map, const FramePair &fp,
     return true;
 }
 
-void ErrorDetector::IsGoodRelativePose_Debug(
-    Map &map, FramePair &fp, const std::vector<char> &inlier_mask) {
-    auto &frame1 = map.frames_[fp.id1];
-    auto &frame2 = map.frames_[fp.id2];
-    cv::Mat image1 = cv::imread(image_dir_ + frame1.name);
-    cv::Mat image2 = cv::imread(image_dir_ + frame2.name);
-    if (image1.empty() || image2.empty()) {
-        printf("%s\n", (image_dir_ + frame1.name).c_str());
-    } else {
-        // DrawFeatureMatches(image1, image2, frame1.points, frame2.points,
-        //                    fp.matches, inlier_mask);
-        // DrawFeatureMatches1(image1, frame1.points, frame2.points, fp.matches,
-        //                     inlier_mask);
-    }
-    // frame1.flag_for_view = frame2.flag_for_view = true;
-    // viewer_->Draw(map, true);
-    // frame1.flag_for_view = frame2.flag_for_view = false;
-    frame1.flag_for_view = frame2.flag_for_view = true;
-    // viewerTh_->update_map(map);
-    frame1.flag_for_view = frame2.flag_for_view = false;
-    cv::waitKey();
-}
-
 bool ErrorDetector::CheckAllRelativePose(Map &map, int frame_id,
                                          std::set<int> &bad_matched_frame_ids) {
     bad_matched_frame_ids.clear();
@@ -170,7 +147,6 @@ bool ErrorDetector::CheckAllRelativePose(Map &map, int frame_id,
             } else {
                 int bad_neighbor_id = fp.id1 == frame_id ? fp.id2 : fp.id1;
                 bad_matched_frame_ids.insert(bad_neighbor_id);
-                // if (debug_) IsGoodRelativePose_Debug(map, fp, inlier_mask);
             }
         }
     }
@@ -182,21 +158,4 @@ bool ErrorDetector::CheckAllRelativePose(Map &map, int frame_id,
     return true;
 }
 
-// void ErrorDetector::StoreRelativePose(Map &map, int frame_id,
-//                                       std::ofstream &file) {
-//     for (const auto id : map.frameid2framepairids_[frame_id]) {
-//         auto &fp = map.frame_pairs_[id];
-//         const auto &frame1 = map.frames_[fp.id1];
-//         const auto &frame2 = map.frames_[fp.id2];
-//         if (frame1.registered && frame2.registered && frame1.is_keyframe &&
-//             frame2.is_keyframe) {
-//             file << id << std::endl;
-//             file << frame1.Tcw.q.coeffs().transpose() << " "
-//                  << frame1.Tcw.t.transpose() << std::endl;
-//             file << frame2.Tcw.q.coeffs().transpose() << " "
-//                  << frame2.Tcw.t.transpose() << std::endl;
-//         }
-//     }
-//     file << "-1" << std::endl;
-// }
 } // namespace xrsfm

src/optimization/ba_solver.cc

@@ -672,7 +672,6 @@ void BASolver::KGBA(Map &map, const std::vector<int> fix_key_frame_ids,
     ceres::Solve(solver_options, &problem, &summary);
     // std::cout << summary.BriefReport() << "\n";
     PrintSolverSummary(summary);
-    map.Camera(0).log();
 
     printf("kf: %d/%d\n", num_kf, num_rf);
     UpdateByRefFrame(map);

src/run_matching.cc

@@ -12,8 +12,16 @@
 
 using namespace xrsfm;
 
-void GetFeatures(const std::string &images_path, const std::string &ftr_path,
-                 std::vector<Frame> &frames) {
+void GetFeatures(const std::string &images_path,
+                 const std::vector<std::string> &image_names,
+                 const std::string &ftr_path, std::vector<Frame> &frames) {
+    const int num_image = image_names.size();
+    frames.resize(num_image);
+    for (int i = 0; i < num_image; ++i) {
+        frames[i].id = i;
+        frames[i].name = image_names[i];
+    }
+
     std::ifstream ftr_bin(ftr_path);
     if (ftr_bin.good()) {
         ReadFeatures(ftr_path, frames);
@@ -33,7 +41,8 @@ void GetImageSizeVec(const std::string &images_path,
         LoadImageSize(path, image_size);
     } else {
         for (const auto &image_name : image_names) {
-            const cv::Mat image = cv::imread(images_path + image_name);
+            const cv::Mat image = cv::imread(images_path + image_name,
+                                             cv::IMREAD_IGNORE_ORIENTATION);
             image_size.push_back(ImageSize(image.cols, image.rows));
         }
         SaveImageSize(path, image_size);
@@ -173,27 +182,25 @@ int main(int argc, const char *argv[]) {
     const std::string fp_init_path = output_path + "fp_init.bin";
     const std::string fp_path = output_path + "fp.bin";
 
-    // 1.read imagesstd::filesystem
+    // 1.read images
     if (!std::experimental::filesystem::exists(images_path)) {
         std::cout << "image path not exists :" << images_path << "\n";
         exit(-1);
     }
     std::vector<std::string> image_names;
     LoadImageNames(images_path, image_names);
-    std::vector<ImageSize> image_size_vec;
-    GetImageSizeVec(images_path, image_names, size_path, image_size_vec);
     std::map<std::string, int> name2id;
     const int num_image = image_names.size();
-    std::vector<Frame> frames(num_image);
     for (int i = 0; i < num_image; ++i) {
-        frames[i].id = i;
-        frames[i].name = image_names[i];
         name2id[image_names[i]] = i;
     }
     std::cout << "Load Image Info Done.\n";
 
     // 2.feature extraction
-    GetFeatures(images_path, ftr_path, frames);
+    std::vector<Frame> frames;
+    std::vector<ImageSize> image_size_vec;
+    GetFeatures(images_path, image_names, ftr_path, frames);
+    GetImageSizeVec(images_path, image_names, size_path, image_size_vec);
     std::cout << "Extract Features Done.\n";
 
     // 5.image matching

src/run_reconstruction.cc

@@ -18,10 +18,12 @@ void PreProcess(const std::string dir_path, const std::string camera_path,
     std::cout << "ReadFramePairs\n";
 
     // set cameras & image name
-    Camera seq = ReadCameraIOSRecord(camera_path);
+    std::map<int, Camera> cameras = ReadCamerasText(camera_path);
+    CHECK_EQ(cameras.size(), 1);
+    const int camera_id = cameras.begin()->first;
 
     for (auto &frame : frames) {
-        frame.camera_id = seq.id_;
+        frame.camera_id = camera_id;
     }
 
     // convert keypoint to points(for reconstruction)
@@ -36,7 +38,7 @@ void PreProcess(const std::string dir_path, const std::string camera_path,
         }
     }
 
-    map.camera_map_[seq.id_] = seq;
+    map.camera_map_ = cameras;
     map.frames_ = frames;
     map.frame_pairs_ = frame_pairs;
 

src/tag/tag_extract.hpp

@@ -26,7 +26,6 @@ extern "C" {
 #include "optimization/cost_factor_ceres.h"
 #include "utility/io_ecim.hpp"
 #include "utility/timer.h"
-// #include "utility/viewer.h"
 
 namespace xrsfm {
 
@@ -48,7 +47,7 @@ tag_extract(std::string image_dir) {
     for (auto &image_name : image_vec) {
         std::string img_path = image_dir + image_name;
         cv::Mat frame, gray;
-        frame = cv::imread(img_path.c_str());
+        frame = cv::imread(img_path.c_str(), cv::IMREAD_IGNORE_ORIENTATION);
         cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);
         image_u8_t im = {.width = gray.cols,
                          .height = gray.rows,
@@ -90,7 +89,7 @@ tag_extract(const std::string &image_dir,
     for (auto &image_name : image_vec) {
         std::string img_path = image_dir + image_name;
         cv::Mat frame, gray;
-        frame = cv::imread(img_path.c_str());
+        frame = cv::imread(img_path.c_str(), cv::IMREAD_IGNORE_ORIENTATION);
         cv::cvtColor(frame, gray, cv::COLOR_BGR2GRAY);
         image_u8_t im = {.width = gray.cols,
                          .height = gray.rows,

src/utility/io_ecim.cc

@@ -225,6 +225,10 @@ void WritePoints3DBinary(const std::string &path,
 }
 
 void WriteColMapDataBinary(const std::string &output_path, const Map &map) {
+    namespace fs = std::experimental::filesystem;
+    if (!fs::is_directory(output_path)) {
+        fs::create_directories(output_path);
+    }
     WriteCamerasBinary(output_path + "cameras.bin", map.camera_map_);
     WriteImagesBinary(output_path + "images.bin", map.frames_);
     WritePoints3DBinary(output_path + "points3D.bin", map.tracks_);