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import os
import re
from pathlib import Path
import numpy as np
import rerun as rr # pip install rerun-sdk
from utils.read_write_model import read_model
# From https://github.com/rerun-io/rerun/tree/main/examples/python/structure_from_motion
def read_and_log_sparse_reconstruction(
exp_name: str,
dataset_path: Path,
output_path: Path,
filter_output: bool = False,
filter_min_visible: int = 2_000
) -> None:
rr.init(exp_name)
cameras, images, points3D = read_model(dataset_path / "sparse", ext=".bin")
if filter_output:
# Filter out noisy points
points3D = {id: point for id, point in points3D.items() if point.rgb.any() and len(point.image_ids) > 4}
rr.log_view_coordinates("/", up="-Y", timeless=True)
# Iterate through images (video frames) logging data related to each frame.
for image in sorted(images.values(), key=lambda im: im.name): # type: ignore[no-any-return]
image_file = dataset_path / "images" / image.name
if not os.path.exists(image_file):
continue
# COLMAP sets image ids that don't match the original video frame
idx_match = re.search(r"\d+", image.name)
assert idx_match is not None
frame_idx = int(idx_match.group(0))
quat_xyzw = image.qvec[[1, 2, 3, 0]] # COLMAP uses wxyz quaternions
camera = cameras[image.camera_id]
np.array([1.0, 1.0])
visible = [id != -1 and points3D.get(id) is not None for id in image.point3D_ids]
visible_ids = image.point3D_ids[visible]
if filter_output and len(visible_ids) < filter_min_visible:
continue
visible_xyzs = [points3D[id] for id in visible_ids]
visible_xys = image.xys[visible]
rr.set_time_sequence("frame", frame_idx)
points = [point.xyz for point in visible_xyzs]
point_colors = [point.rgb for point in visible_xyzs]
point_errors = [point.error for point in visible_xyzs]
rr.log_scalar("plot/avg_reproj_err", np.mean(point_errors), color=[240, 45, 58])
rr.log_points("points", points, colors=point_colors, ext={"error": point_errors})
# COLMAP's camera transform is "camera from world"
rr.log_transform3d(
"camera", rr.TranslationRotationScale3D(image.tvec, rr.Quaternion(xyzw=quat_xyzw)), from_parent=True
)
rr.log_view_coordinates("camera", xyz="RDF") # X=Right, Y=Down, Z=Forward
# Log camera intrinsics
assert camera.model == "PINHOLE"
rr.log_pinhole(
"camera/image",
width=camera.width,
height=camera.height,
focal_length_px=camera.params[:2],
principal_point_px=camera.params[2:],
)
rr.log_image_file("camera/image", img_path=dataset_path / "images" / image.name)
rr.log_points("camera/image/keypoints", visible_xys, colors=[34, 138, 167])
rerun_output_directory = output_path / "rerun"
rerun_output_directory.mkdir(parents=True, exist_ok=True)
rerun_output_file = rerun_output_directory / "recording.rrd"
rr.save(rerun_output_file.as_posix())
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