Added camera module, tests

Former-commit-id: 48298e646c

opendm/camera.py

@@ -0,0 +1,72 @@
+import os, json
+from opendm import log
+
+def get_cameras_from_opensfm(reconstruction_file):
+    """
+    Extract the cameras from OpenSfM's reconstruction.json
+    """
+    if os.path.exists(reconstruction_file):
+        with open(reconstruction_file, 'r') as fin:
+            reconstructions = json.loads(fin.read())
+            
+            result = {}
+            for recon in reconstructions:
+                if 'cameras' in recon:
+                    for camera_id in recon['cameras']:
+                        # Strip "v2" from OpenSfM camera IDs
+                        new_camera_id = camera_id
+                        if new_camera_id.startswith("v2 "):
+                            new_camera_id = new_camera_id[3:]
+
+                        result[new_camera_id] = recon['cameras'][camera_id]
+                        
+                        # Remove "_prior" keys
+                        keys = list(result[new_camera_id].keys())
+                        for k in keys:
+                            if k.endswith('_prior'):
+                                result[new_camera_id].pop(k)
+            return result
+    else:
+        raise RuntimeError("%s does not exist." % reconstruction_file)
+
+
+def get_opensfm_camera_models(cameras):
+    """
+    Convert cameras to a format OpenSfM can understand
+    (opposite of get_cameras_from_opensfm)
+    """
+    if isinstance(cameras, dict):
+        result = {}
+        for camera_id in cameras:
+            # Quick check on IDs
+            if len(camera_id.split(" ")) < 6:
+                raise RuntimeError("Invalid cameraID: %s" % camera_id)
+
+            # Add "v2" to camera ID
+            if not camera_id.startswith("v2 "):
+                osfm_camera_id = "v2 " + camera_id
+            else:
+                osfm_camera_id = camera_id
+            
+            # Add "_prior" keys
+            camera = cameras[camera_id]
+            prior_fields = ["focal","focal_x","focal_y","c_x","c_y","k1","k2","p1","p2","k3"]
+            valid_fields = ["id","width","height","projection_type"] + prior_fields + [f + "_prior" for f in prior_fields]
+
+            keys = list(camera.keys())
+            for param in keys:
+                param_prior = param + "_prior"
+                if param in prior_fields and not param_prior in camera:
+                    camera[param_prior] = camera[param]
+
+            # Remove invalid keys
+            keys = list(camera.keys())
+            for k in keys:
+                if not k in valid_fields:
+                    camera.pop(k)
+                    log.ODM_WARNING("Invalid camera key ignored: %s" % k)
+
+            result[osfm_camera_id] = camera
+        return result
+    else:
+        raise RuntimeError("Invalid cameras format: %s. Expected dict." % str(cameras))

opendm/config.py

@@ -1,4 +1,5 @@
 import argparse
+import json
 from opendm import context
 from opendm import io
 from opendm import log
@@ -23,6 +24,25 @@ def alphanumeric_string(string):
         raise argparse.ArgumentTypeError(msg)
     return string
 
+def path_or_json_string(string):
+    if string == "":
+        return {}
+        
+    if string.startswith("[") or string.startswith("{"):
+        try:
+            return json.loads(string)
+        except:
+            raise argparse.ArgumentTypeError("{0} is not a valid JSON string.".format(string))
+    elif io.file_exists(string):
+        try:
+            with open(string, 'r') as f:
+                return json.loads(f.read())
+        except:
+            raise argparse.ArgumentTypeError("{0} is not a valid JSON file.".format(string))
+    else:
+        raise argparse.ArgumentTypeError("{0} is not a valid JSON file or string.".format(string))
+
+
 # Django URL validation regex
 def url_string(string):
     import re
@@ -137,6 +157,16 @@ def config():
                         default=False,
                         help='Turn off camera parameter optimization during bundler')
 
+    parser.add_argument('--cameras',
+                        default='',
+                        metavar='<string>',
+                        type=path_or_json_string,
+                        help='Use the camera parameters computed from '
+                             'another dataset instead of calculating them. '
+                             'Can be specified either as path to a cameras.json file or as a '
+                             'JSON string representing the contents of a '
+                             'cameras.json file. Default: %(default)s')
+
     parser.add_argument('--max-concurrency',
                         metavar='<positive integer>',
                         default=context.num_cores,
@@ -556,6 +586,8 @@ def config():
                             '%(default)s'))
 
     args = parser.parse_args()
+    print(args.cameras)
+    exit(1)
 
     # check that the project path setting has been set properly
     if not args.project_path:

opendm/osfm.py

@@ -8,6 +8,7 @@ from opendm import io
 from opendm import log
 from opendm import system
 from opendm import context
+from opendm import camera
 from opensfm.large import metadataset
 from opensfm.large import tools
 
@@ -85,13 +86,14 @@ class OSFMContext:
                 log.ODM_DEBUG("Copied image_groups.txt to OpenSfM directory")
                 io.copy(image_groups_file, os.path.join(self.opensfm_project_path, "image_groups.txt"))
         
-            # check for cameras.json
+            # check for cameras
-            # TODO: use config.cameras
+            if args.cameras:
-            camera_models_file = os.path.join(args.project_path, "cameras.json")
+                try:
-            has_camera_calibration = io.file_exists(camera_models_file)
+                    with open(os.path.join(self.opensfm_project_path, "camera_models_overrides.json"), 'r') as f:
-            if has_camera_calibration:
+                        f.write(json.dumps(camera.get_opensfm_camera_models(args.cameras)))
-                log.ODM_DEBUG("Copied cameras.json to OpenSfM directory (camera_models_overrides.json)")
+                    log.ODM_DEBUG("Wrote camera_models_overrides.json to OpenSfM directory (camera_models_overrides.json)")
-                io.copy(camera_models_file, os.path.join(self.opensfm_project_path, "camera_models_overrides.json"))
+                except Exception as e:
+                    log.ODM_WARNING("Cannot set camera_models_overrides.json: %s" % str(e))
 
             # create config file for OpenSfM
             config = [
@@ -196,30 +198,11 @@ class OSFMContext:
     def extract_cameras(self, output, rerun=False):
         reconstruction_file = self.path("reconstruction.json")
         if not os.path.exists(output) or rerun:
-            if os.path.exists(reconstruction_file):
+            try:
-                result = {}
-                with open(reconstruction_file, 'r') as fin:
-                    json_f = json.loads(fin.read())
-                    for recon in json_f:
-                        if 'cameras' in recon:
-                            for camera_id in recon['cameras']:
-                                # Strip "v2" from OpenSfM camera IDs
-                                new_camera_id = camera_id
-                                if new_camera_id.startswith("v2 "):
-                                    new_camera_id = new_camera_id[3:]
-
-                                result[new_camera_id] = recon['cameras'][camera_id]
-                                
-                                # Remove "_prior" keys
-                                keys = list(result[new_camera_id].keys())
-                                for k in keys:
-                                    if k.endswith('_prior'):
-                                        result[new_camera_id].pop(k)
-
                 with open(output, 'w') as fout:
-                    fout.write(json.dumps(result))
+                    fout.write(json.dumps(camera.get_cameras_from_opensfm(reconstruction_file)))
-            else:
+            except Exception as e:
-                log.ODM_WARNING("Cannot export cameras to %s. reconstruction.json does not exist." % output)
+                log.ODM_WARNING("Cannot export cameras to %s. %s." % (output, str(e)))
         else:
             log.ODM_INFO("Already extracted cameras")
 

tests/assets/reconstruction.json

@@ -0,0 +1,23 @@
+[
+    {
+        "reference_lla": {
+            "latitude": 46.84265666666667, 
+            "altitude": 0, 
+            "longitude": -91.99400802469134
+        }, 
+        "cameras": {
+            "v2 dji fc300s 4000 2250 perspective 0.5555": {
+                "focal_prior": 0.5555555555555556, 
+                "width": 4000, 
+                "k1": 0.0052219633739416784, 
+                "k2": 0.015202301516716735, 
+                "k1_prior": 0.0, 
+                "k2_prior": 0.0, 
+                "projection_type": "perspective", 
+                "focal": 0.5614307793062748, 
+                "height": 2250
+            }
+        }, 
+        "shots": {}
+    }
+]

tests/test_camera.py

@@ -0,0 +1,41 @@
+import time
+import unittest
+import os
+import shutil
+
+from opendm import camera
+
+
+class TestCamera(unittest.TestCase):
+    def setUp(self):
+        if os.path.exists("tests/assets/output"):
+            shutil.rmtree("tests/assets/output")
+        os.makedirs("tests/assets/output")
+
+    def test_camera(self):
+        c = camera.get_cameras_from_opensfm("tests/assets/reconstruction.json")
+        self.assertEqual(len(c.keys()), 1)
+        camera_id = c.keys()[0]
+        self.assertTrue('v2 ' not in camera_id)
+
+        self.assertRaises(RuntimeError, camera.get_cameras_from_opensfm, 'tests/assets/nonexistant.json')
+        self.assertRaises(ValueError, camera.get_cameras_from_opensfm, 'tests/assets/gcp_extras.txt')
+        self.assertFalse('k1_prior' in c[camera_id])
+        
+        # Add bogus field
+        c[camera_id]['test'] = 0
+
+        osfm_c = camera.get_opensfm_camera_models(c)
+        self.assertEqual(len(osfm_c.keys()), 1)
+        c1 = osfm_c[osfm_c.keys()[0]]
+        self.assertTrue('k1_prior' in c1)
+        self.assertTrue('k2_prior' in c1)
+        self.assertFalse('test' in c1)
+        self.assertEqual(c1['k1'], c1['k1_prior'])
+        self.assertEqual(c1['k2'], c1['k2_prior'])
+        self.assertEqual(c1['focal'], c1['focal_prior'])
+        self.assertTrue('width_prior' not in c1)
+        
+
+if __name__ == '__main__':
+    unittest.main()