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colmap_change_cam_model.py
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#!/usr/bin/env python3
"""
Change camera model in COLMAP model
"""
import argparse
import pycolmap
parser = argparse.ArgumentParser()
parser.add_argument(
"--input_path",
type=str,
required=True,
help="Path to the input COLMAP model"
)
parser.add_argument(
"--output_path",
type=str,
required=True,
help="Path to the output COLMAP model"
)
parser.add_argument(
"--output_cam_model",
type=str,
choices=[
"SIMPLE_PINHOLE",
"PINHOLE",
"SIMPLE_RADIAL",
"RADIAL",
"OPENCV",
"FULL_OPENCV",
"SIMPLE_RADIAL_FISHEYE",
"RADIAL_FISHEYE",
"OPENCV_FISHEYE",
"FOV",
"THIN_PRISM_FISHEYE",
],
help="Camera model of the output COLMAP model",
)
parser.add_argument(
"--fov",
type=float,
help="The field of view of fisheye camera used in FOV camera model.",
)
parser.add_argument(
"--output_type",
type=str,
choices=["BIN", "TXT", "NVM"],
default="TXT",
help="Type of the output model",
)
def main(args):
colmap_model = pycolmap.Reconstruction(args.input_path)
# print(dir(colmap_model))
if args.output_cam_model is not None:
new_cameras_list = []
for cam_id, cam in colmap_model.cameras.items():
# All params:
# fx, fy, cx, cy, k1, k2, p1, p2, k3, k4, k5, k6, sx1, sy1, omega
k1 = k2 = p1 = p2 = k3 = k4 = k5 = k6 = sx1 = sy1 = 0
omega = args.fov
# Read the input parameters
if cam.model_name == "SIMPLE_PINHOLE":
# f, cx, cy
fx = fy = cam.params[0]
cx = cam.params[1]
cy = cam.params[2]
elif cam.model_name == "PINHOLE":
# fx, fy, cx, cy
fx = cam.params[0]
fy = cam.params[1]
cx = cam.params[2]
cy = cam.params[3]
elif (
cam.model_name == "SIMPLE_RADIAL"
or cam.model_name == "SIMPLE_RADIAL_FISHEYE"
):
# f, cx, cy, k
fx = fy = cam.params[0]
cx = cam.params[1]
cy = cam.params[2]
k1 = cam.params[3]
elif cam.model_name == "RADIAL" or cam.model_name == "RADIAL_FISHEYE":
# f, cx, cy, k1, k2
fx = fy = cam.params[0]
cx = cam.params[1]
cy = cam.params[2]
k1 = cam.params[3]
k2 = cam.params[4]
elif cam.model_name == "OPENCV":
# fx, fy, cx, cy, k1, k2, p1, p2
fx = cam.params[0]
fy = cam.params[1]
cx = cam.params[2]
cy = cam.params[3]
k1 = cam.params[4]
k2 = cam.params[5]
p1 = cam.params[6]
p2 = cam.params[7]
elif cam.model_name == "FULL_OPENCV":
# fx, fy, cx, cy, k1, k2, p1, p2, k3, k4, k5, k6
fx = cam.params[0]
fy = cam.params[1]
cx = cam.params[2]
cy = cam.params[3]
k1 = cam.params[4]
k2 = cam.params[5]
p1 = cam.params[6]
p2 = cam.params[7]
k3 = cam.params[8]
k4 = cam.params[9]
k5 = cam.params[10]
k6 = cam.params[11]
elif cam.model_name == "OPENCV_FISHEYE":
# fx, fy, cx, cy, k1, k2, k3, k4
fx = cam.params[0]
fy = cam.params[1]
cx = cam.params[2]
cy = cam.params[3]
k1 = cam.params[4]
k2 = cam.params[5]
k3 = cam.params[6]
k4 = cam.params[7]
elif cam.model_name == "FOV":
# fx, fy, cx, cy, omega
fx = cam.params[0]
fy = cam.params[1]
cx = cam.params[2]
cy = cam.params[3]
omega = cam.params[4]
elif cam.model_name == "THIN_PRISM_FISHEYE":
# fx, fy, cx, cy, k1, k2, p1, p2, k3, k4, sx1, sy1
fx = cam.params[0]
fy = cam.params[1]
cx = cam.params[2]
cy = cam.params[3]
k1 = cam.params[4]
k2 = cam.params[5]
p1 = cam.params[6]
p2 = cam.params[7]
k3 = cam.params[8]
k4 = cam.params[9]
sx1 = cam.params[10]
sy1 = cam.params[11]
# Create output list of parameters
if args.output_cam_model == "SIMPLE_PINHOLE":
# f, cx, cy
new_params = [fx, cx, cy]
elif args.output_cam_model == "PINHOLE":
# fx, fy, cx, cy
new_params = [fx, fy, cx, cy]
elif (
args.output_cam_model == "SIMPLE_RADIAL"
or args.output_cam_model == "SIMPLE_RADIAL_FISHEYE"
):
# f, cx, cy, k
new_params = [fx, cx, cy, k1]
elif (
args.output_cam_model == "RADIAL"
or args.output_cam_model == "RADIAL_FISHEYE"
):
# f, cx, cy, k1, k2
new_params = [fx, cx, cy, k1, k2]
elif args.output_cam_model == "OPENCV":
# fx, fy, cx, cy, k1, k2, p1, p2
new_params = [fx, fy, cx, cy, k1, k2, p1, p2]
elif args.output_cam_model == "FULL_OPENCV":
# fx, fy, cx, cy, k1, k2, p1, p2, k3, k4, k5, k6
new_params = [fx, fy, cx, cy, k1, k2, p1, p2, k3, k4, k5, k6]
elif args.output_cam_model == "OPENCV_FISHEYE":
# fx, fy, cx, cy, k1, k2, k3, k4
new_params = [fx, fy, cx, cy, k1, k2, k3, k4]
elif args.output_cam_model == "FOV":
# fx, fy, cx, cy, omega
new_params = [fx, fy, cx, cy, omega]
elif args.output_cam_model == "THIN_PRISM_FISHEYE":
# fx, fy, cx, cy, k1, k2, p1, p2, k3, k4, sx1, sy1
new_params = [fx, fy, cx, cy, k1, k2, p1, p2, k3, k4, sx1, sy1]
colmap_model.cameras[cam_id] = pycolmap.Camera(
model=args.output_cam_model,
width=cam.width,
height=cam.height,
params=new_params,
)
if args.output_type == "BIN":
colmap_model.write_binary(args.output_path)
elif args.output_type == "TXT":
colmap_model.write_text(args.output_path)
elif args.output_type == "NVM":
colmap_model.export_NVM(args.output_path)
if __name__ == "__main__":
args = parser.parse_args()
main(args)