Camera Model Generation

exhaustive_matcher.sh

colmap exhaustive_matcher \
        --database_path fl09.db \
        --SiftMatching.num_threads=-1 \
        --SiftMatching.use_gpu=1 \
        --SiftMatching.gpu_index=0 \
        --SiftMatching.max_ratio=0.80000000000000004 \
        --SiftMatching.max_distance=0.69999999999999996 \
        --SiftMatching.cross_check=1 \
        --SiftMatching.max_error=4 \
        --SiftMatching.max_num_matches=32768 \
        --SiftMatching.confidence=0.999 \
        --SiftMatching.max_num_trials=10000 \
        --SiftMatching.min_inlier_ratio=0.25 \
        --SiftMatching.min_num_inliers=15 \
        --SiftMatching.multiple_models=0 \
        --SiftMatching.guided_matching=0 \
        --ExhaustiveMatching.block_size=50

feature_extractor.sh

colmap feature_extractor \
   	--database_path fl09.db \
   	--image_path images \
   	--ImageReader.camera_model=OPENCV \
   	--ImageReader.single_camera=0 \
   	--ImageReader.single_camera_per_folder=1 \
   	--ImageReader.existing_camera_id=-1 \
   	--ImageReader.default_focal_length_factor=1.2 \
   	--SiftExtraction.num_threads=-1 \
   	--SiftExtraction.use_gpu=1 \
   	--SiftExtraction.gpu_index=-1 \
   	--SiftExtraction.max_image_size=3200 \
   	--SiftExtraction.max_num_features=8192 \
   	--SiftExtraction.first_octave=-1 \
   	--SiftExtraction.num_octaves=4 \
   	--SiftExtraction.octave_resolution=3 \
   	--SiftExtraction.peak_threshold=0.0066666666666666671 \
   	--SiftExtraction.edge_threshold=10 \
   	--SiftExtraction.estimate_affine_shape=0 \
   	--SiftExtraction.max_num_orientations=2 \
   	--SiftExtraction.upright=0 \
   	--SiftExtraction.domain_size_pooling=0 \
   	--SiftExtraction.dsp_min_scale=0.16666666666666666 \
   	--SiftExtraction.dsp_max_scale=3 \
   	--SiftExtraction.dsp_num_scales=10

mapper.sh

colmap mapper \
        --database_path fl09.db \
        --image_path images \
        --output_path sparse \
        --Mapper.min_num_matches=15 \
        --Mapper.ignore_watermarks=0 \
        --Mapper.multiple_models=1 \
        --Mapper.max_num_models=50 \
        --Mapper.max_model_overlap=20 \
        --Mapper.min_model_size=10 \
        --Mapper.init_image_id1=-1 \
        --Mapper.init_image_id2=-1 \
        --Mapper.init_num_trials=200 \
        --Mapper.extract_colors=1 \
        --Mapper.num_threads=-1 \
        --Mapper.min_focal_length_ratio=0.10000000000000001 \ \
        --Mapper.max_focal_length_ratio=10 \
        --Mapper.max_extra_param=1 \
        --Mapper.ba_refine_focal_length=1 \
        --Mapper.ba_refine_principal_point=0 \
        --Mapper.ba_refine_extra_params=1 \
        --Mapper.ba_min_num_residuals_for_multi_threading=50000 \
        --Mapper.ba_local_num_images=6 \
        --Mapper.ba_local_max_num_iterations=25 \
        --Mapper.ba_global_use_pba=0 \
        --Mapper.ba_global_pba_gpu_index=-1 \
        --Mapper.ba_global_images_ratio=1.1000000000000001 \
        --Mapper.ba_global_points_ratio=1.1000000000000001 \
        --Mapper.ba_global_images_freq=500 \
        --Mapper.ba_global_points_freq=250000 \
        --Mapper.ba_global_max_num_iterations=50 \
        --Mapper.ba_global_max_refinements=5 \
        --Mapper.ba_global_max_refinement_change=0.00050000000000000001 \
        --Mapper.ba_local_max_refinements=2  \
        --Mapper.ba_local_max_refinement_change=0.001 \
        --Mapper.snapshot_path arg  \
        --Mapper.snapshot_images_freq=0  \
        --Mapper.fix_existing_images=0  \
        --Mapper.init_min_num_inliers=100  \
        --Mapper.init_max_error=4 \
        --Mapper.init_max_forward_motion=0.94999999999999996 \
        --Mapper.init_min_tri_angle=16 \
        --Mapper.init_max_reg_trials=2 \
        --Mapper.abs_pose_max_error=12 \
        --Mapper.abs_pose_min_num_inliers=30 \
        --Mapper.abs_pose_min_inlier_ratio=0.25 \
        --Mapper.filter_max_reproj_error=4 \
        --Mapper.filter_min_tri_angle=1.5 \
        --Mapper.max_reg_trials=3 \
        --Mapper.tri_max_transitivity=1 \
        --Mapper.tri_create_max_angle_error=2 \
        --Mapper.tri_continue_max_angle_error=2 \
        --Mapper.tri_merge_max_reproj_error=4 \
        --Mapper.tri_complete_max_reproj_error=4 \
        --Mapper.tri_complete_max_transitivity=5 \
        --Mapper.tri_re_max_angle_error=5 \
        --Mapper.tri_re_min_ratio=0.20000000000000001 \
        --Mapper.tri_re_max_trials=1 \
        --Mapper.tri_min_angle=1.5 \
        --Mapper.tri_ignore_two_view_tracks=1

model_analyze.py

import os
import subprocess
from copy import copy

import matplotlib.pyplot as plt


def model_analyze(path):
	result = subprocess.run(['colmap', 'model_analyzer', '--path', path], stdout=subprocess.PIPE)
	print('\n=================')
	print("Model: %s" % path)
	print(result.stdout.decode('utf-8'))




sparse_folder_path = 'sparse_temp'

models = sorted([os.path.join(sparse_folder_path, x) for x in os.listdir(sparse_folder_path)])
print('All Models: ' + str(models))
for s in models:
	model_analyze(s)

x_norm_tmp.py

import os
import shutil

import cv2
import numpy as np

def normalize(im):
    # min = np.amin(im, axis=tuple(range(3 - 1)))
    # max = np.amax(im, axis=tuple(range(3 - 1)))
    # im_ir = ((im - min) / (max - min))
    # im_ir = im_ir*255.0
    # im_ir = im_ir.astype(np.uint8)
    # return im_ir
    im_ir = ((im - np.min(im)) / (0.0 + np.max(im) - np.min(im)))
    im_ir = im_ir*255.0
    im_ir = im_ir.astype(np.uint8)
    return im_ir

def process_dir(input_dir, ext_pattern, output_dir, preproc_fn=None):
    os.makedirs(output_dir, exist_ok=True)
    files = os.listdir(input_dir)
    images = []
    for fn in files:
        if fn.endswith(ext_pattern):
            images.append(os.path.abspath(os.path.join(input_dir,fn)))
    total = len(images)
    for idx, im_fp in enumerate(images):
        print(f'{idx}/{total}')
        dest_fp = os.path.abspath(os.path.join(output_dir, os.path.basename(im_fp)))
        if os.path.isfile(dest_fp):
            print(f'skipping {dest_fp} already exists')
            continue
        if preproc_fn:
            im = cv2.imread(im_fp, -1)
            im = normalize(im)
            cv2.imwrite(dest_fp, im)
            print(f'Wrote {dest_fp}')
            x=1
        else:
            shutil.copy(im_fp, dest_fp)
            print(f'Copied {dest_fp}')
    x=1

process_dir('images/center_view/', 'uv.jpg', 'project/images/center_view_uv/', preproc_fn=normalize)
process_dir('images/left_view/', 'uv.jpg', 'project/images/left_view_uv/', preproc_fn=normalize)
process_dir('images/right_view/', 'uv.jpg', 'project/images/right_view_uv/', preproc_fn=normalize)

process_dir('images/center_view/', 'rgb.jpg', 'project/images/center_view_rgb/')
process_dir('images/left_view/', 'rgb.jpg', 'project/images/left_view_rgb/')
process_dir('images/right_view/', 'rgb.jpg', 'project/images/right_view_rgb/')