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119 lines
4.7 KiB
119 lines
4.7 KiB
# 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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import numpy as np
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from read_write_model import read_model, write_model
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from tempfile import mkdtemp
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def compare_cameras(cameras1, cameras2):
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assert len(cameras1) == len(cameras2)
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for camera_id1 in cameras1:
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camera1 = cameras1[camera_id1]
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camera2 = cameras2[camera_id1]
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assert camera1.id == camera2.id
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assert camera1.width == camera2.width
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assert camera1.height == camera2.height
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assert np.allclose(camera1.params, camera2.params)
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def compare_images(images1, images2):
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assert len(images1) == len(images2)
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for image_id1 in images1:
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image1 = images1[image_id1]
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image2 = images2[image_id1]
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assert image1.id == image2.id
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assert np.allclose(image1.qvec, image2.qvec)
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assert np.allclose(image1.tvec, image2.tvec)
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assert image1.camera_id == image2.camera_id
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assert image1.name == image2.name
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assert np.allclose(image1.xys, image2.xys)
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assert np.array_equal(image1.point3D_ids, image2.point3D_ids)
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def compare_points(points3D1, points3D2):
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for point3D_id1 in points3D1:
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point3D1 = points3D1[point3D_id1]
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point3D2 = points3D2[point3D_id1]
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assert point3D1.id == point3D2.id
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assert np.allclose(point3D1.xyz, point3D2.xyz)
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assert np.array_equal(point3D1.rgb, point3D2.rgb)
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assert np.allclose(point3D1.error, point3D2.error)
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assert np.array_equal(point3D1.image_ids, point3D2.image_ids)
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assert np.array_equal(point3D1.point2D_idxs, point3D2.point2D_idxs)
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def main():
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import sys
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if len(sys.argv) != 3:
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print("Usage: python read_model.py "
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"path/to/model/folder/txt path/to/model/folder/bin")
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return
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print("Comparing text and binary models ...")
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path_to_model_txt_folder = sys.argv[1]
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path_to_model_bin_folder = sys.argv[2]
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cameras_txt, images_txt, points3D_txt = \
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read_model(path_to_model_txt_folder, ext=".txt")
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cameras_bin, images_bin, points3D_bin = \
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read_model(path_to_model_bin_folder, ext=".bin")
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compare_cameras(cameras_txt, cameras_bin)
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compare_images(images_txt, images_bin)
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compare_points(points3D_txt, points3D_bin)
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print("... text and binary models are equal.")
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print("Saving text model and reloading it ...")
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tmpdir = mkdtemp()
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write_model(cameras_bin, images_bin, points3D_bin, tmpdir, ext='.txt')
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cameras_txt, images_txt, points3D_txt = \
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read_model(tmpdir, ext=".txt")
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compare_cameras(cameras_txt, cameras_bin)
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compare_images(images_txt, images_bin)
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compare_points(points3D_txt, points3D_bin)
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print("... saved text and loaded models are equal.")
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print("Saving binary model and reloading it ...")
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write_model(cameras_bin, images_bin, points3D_bin, tmpdir, ext='.bin')
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cameras_bin, images_bin, points3D_bin = \
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read_model(tmpdir, ext=".bin")
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compare_cameras(cameras_txt, cameras_bin)
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compare_images(images_txt, images_bin)
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compare_points(points3D_txt, points3D_bin)
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print("... saved binary and loaded models are equal.")
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if __name__ == "__main__":
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main()
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