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125 lines
4.7 KiB
125 lines
4.7 KiB
3 years ago
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# Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
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# its contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
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# This script converts a VisualSfM reconstruction file to a PLY point cloud.
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import os
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import argparse
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import numpy as np
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def parse_args():
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parser = argparse.ArgumentParser()
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parser.add_argument("--nvm_path", required=True)
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parser.add_argument("--ply_path", required=True)
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parser.add_argument("--normalize", type=bool, default=True)
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parser.add_argument("--normalize_p0", type=float, default=0.2)
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parser.add_argument("--normalize_p1", type=float, default=0.8)
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parser.add_argument("--min_track_length", type=int, default=3)
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args = parser.parse_args()
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return args
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def main():
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args = parse_args()
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with open(args.nvm_path, "r") as fid:
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line = fid.readline()
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line = fid.readline()
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num_images = int(fid.readline())
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for i in range(num_images + 1):
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fid.readline()
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num_points = int(fid.readline())
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xyz = np.zeros((num_points, 3), dtype=np.float64)
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rgb = np.zeros((num_points, 3), dtype=np.uint16)
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track_lengths = np.zeros((num_points,), dtype=np.uint32)
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for i in range(num_points):
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if i % 1000 == 0:
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print("Reading point", i, "/", num_points)
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elems = fid.readline().split()
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xyz[i] = map(float, elems[0:3])
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rgb[i] = map(int, elems[3:6])
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track_lengths[i] = int(elems[6])
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mask = track_lengths >= args.min_track_length
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xyz = xyz[mask]
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rgb = rgb[mask]
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if args.normalize:
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sorted_x = np.sort(xyz[:, 0])
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sorted_y = np.sort(xyz[:, 1])
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sorted_z = np.sort(xyz[:, 2])
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num_coords = sorted_x.size
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min_coord = int(args.normalize_p0 * num_coords)
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max_coord = int(args.normalize_p1 * num_coords)
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mean_coords = xyz.mean(0)
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bbox_min = np.array([sorted_x[min_coord], sorted_y[min_coord],
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sorted_z[min_coord]])
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bbox_max = np.array([sorted_x[max_coord], sorted_y[max_coord],
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sorted_z[max_coord]])
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extent = np.linalg.norm(bbox_max - bbox_min)
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scale = 10.0 / extent
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xyz -= mean_coords
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xyz *= scale
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with open(args.ply_path, "w") as fid:
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fid.write("ply\n")
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fid.write("format ascii 1.0\n")
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fid.write("element vertex %d\n" % xyz.shape[0])
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fid.write("property float x\n")
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fid.write("property float y\n")
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fid.write("property float z\n")
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fid.write("property float nx\n")
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fid.write("property float ny\n")
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fid.write("property float nz\n")
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fid.write("property uchar diffuse_red\n")
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fid.write("property uchar diffuse_green\n")
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fid.write("property uchar diffuse_blue\n")
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fid.write("end_header\n")
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for i in range(xyz.shape[0]):
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if i % 1000 == 0:
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print("Writing point", i, "/", xyz.shape[0])
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fid.write("%f %f %f 0 0 0 %d %d %d\n" % (xyz[i, 0], xyz[i, 1],
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xyz[i, 2], rgb[i, 0],
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rgb[i, 1], rgb[i, 2]))
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if __name__ == "__main__":
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main()
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