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Update pose_utils.py #60

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Update pose_utils.py #60

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103 changes: 96 additions & 7 deletions llff/poses/pose_utils.py
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,96 @@
from llff.poses.colmap_wrapper import run_colmap
import llff.poses.colmap_read_model as read_model

def save_views(realdir,names):
with open(os.path.join(realdir,'view_imgs.txt'), mode='w') as f:
f.writelines('\n'.join(names))
f.close()


def load_save_pose(realdir):

# load colmap data
camerasfile = os.path.join(realdir, 'sparse/0/cameras.bin')
camdata = read_model.read_cameras_binary(camerasfile)

list_of_keys = list(camdata.keys())
cam = camdata[list_of_keys[0]]
print( 'Cameras', cam)

h, w, f = cam.height, cam.width, cam.params[0]
hwf = np.array([h,w,f]).reshape([3,1])

imagesfile = os.path.join(realdir, 'sparse/0/images.bin')
imdata = read_model.read_images_binary(imagesfile)

real_ids = [k for k in imdata]

w2c_mats = []
bottom = np.array([0,0,0,1.]).reshape([1,4])

names = [imdata[k].name for k in imdata]
print( 'Images #', len(names))

# if (len(names)< 32):
# raise ValueError(f'{realdir} only {len(names)} images register, need Re-run colmap or reset the threshold')


perm = np.argsort(names)
sort_names = [names[i] for i in perm]
save_views(realdir,sort_names)

for k in imdata:
im = imdata[k]
R = im.qvec2rotmat()
t = im.tvec.reshape([3,1])
m = np.concatenate([np.concatenate([R, t], 1), bottom], 0)
w2c_mats.append(m)

w2c_mats = np.stack(w2c_mats, 0)
c2w_mats = np.linalg.inv(w2c_mats)

poses = c2w_mats[:, :3, :4].transpose([1,2,0])
poses = np.concatenate([poses, np.tile(hwf[..., np.newaxis], [1,1,poses.shape[-1]])], 1)

points3dfile = os.path.join(realdir, 'sparse/0/points3D.bin')
pts3d = read_model.read_points3d_binary(points3dfile)

# must switch to [-u, r, -t] from [r, -u, t], NOT [r, u, -t]
poses = np.concatenate([poses[:, 1:2, :], poses[:, 0:1, :], -poses[:, 2:3, :], poses[:, 3:4, :], poses[:, 4:5, :]], 1)

# save pose
pts_arr = []
vis_arr = []
for k in pts3d:
pts_arr.append(pts3d[k].xyz)
cams = [0] * poses.shape[-1]
for ind in pts3d[k].image_ids:
if len(cams) < real_ids.index(ind):
print('ERROR: the correct camera poses for current points cannot be accessed')
return
cams[real_ids.index(ind)] = 1
vis_arr.append(cams)

pts_arr = np.array(pts_arr)
vis_arr = np.array(vis_arr)
print( 'Points', pts_arr.shape, 'Visibility', vis_arr.shape)
zvals = np.sum(-(pts_arr[:, np.newaxis, :].transpose([2,0,1]) - poses[:3, 3:4, :]) * poses[:3, 2:3, :], 0)
valid_z = zvals[vis_arr==1]
print( 'Depth stats', valid_z.min(), valid_z.max(), valid_z.mean() )

save_arr = []
for i in perm:
vis = vis_arr[:, i]
zs = zvals[:, i]
zs = zs[vis==1]
close_depth, inf_depth = np.percentile(zs, .1), np.percentile(zs, 99.9)

save_arr.append(np.concatenate([poses[..., i].ravel(), np.array([close_depth, inf_depth])], 0))
save_arr = np.array(save_arr)

np.save(os.path.join(realdir, 'poses_bounds.npy'), save_arr)



def load_colmap_data(realdir):

Expand Down Expand Up @@ -49,7 +139,6 @@ def load_colmap_data(realdir):

# must switch to [-u, r, -t] from [r, -u, t], NOT [r, u, -t]
poses = np.concatenate([poses[:, 1:2, :], poses[:, 0:1, :], -poses[:, 2:3, :], poses[:, 3:4, :], poses[:, 4:5, :]], 1)

return poses, pts3d, perm


Expand All @@ -68,8 +157,7 @@ def save_poses(basedir, poses, pts3d, perm):

pts_arr = np.array(pts_arr)
vis_arr = np.array(vis_arr)
print( 'Points', pts_arr.shape, 'Visibility', vis_arr.shape )

print( 'Points', pts_arr.shape, 'Visibility', vis_arr.shape)
zvals = np.sum(-(pts_arr[:, np.newaxis, :].transpose([2,0,1]) - poses[:3, 3:4, :]) * poses[:3, 2:3, :], 0)
valid_z = zvals[vis_arr==1]
print( 'Depth stats', valid_z.min(), valid_z.max(), valid_z.mean() )
Expand Down Expand Up @@ -268,12 +356,13 @@ def gen_poses(basedir, match_type, factors=None):
run_colmap(basedir, match_type)
else:
print('Don\'t need to run COLMAP')

print( 'Post-colmap')

load_save_pose(basedir)

# poses, pts3d, perm = load_colmap_data(basedir)

poses, pts3d, perm = load_colmap_data(basedir)

save_poses(basedir, poses, pts3d, perm)
# save_poses(basedir, poses, pts3d, perm)

if factors is not None:
print( 'Factors:', factors)
Expand Down