Radially undistort images before odm_texturing

Former-commit-id: 109eb800f1

modules/odm_slam/src/undistort_radial.py

@@ -0,0 +1,53 @@
+#!/usr/bin/env python
+
+import argparse
+import os
+
+import cv2
+import numpy as np
+
+import opensfm.dataset as dataset
+import opensfm.io as io
+
+
+def opencv_calibration_matrix(width, height, focal):
+    '''Calibration matrix as used by OpenCV and PMVS
+    '''
+    f = focal * max(width, height)
+    return np.matrix([[f, 0, 0.5 * (width - 1)],
+                      [0, f, 0.5 * (height - 1)],
+                      [0, 0, 1.0]])
+
+if __name__ == "__main__":
+    parser = argparse.ArgumentParser(description='Undistort images')
+    parser.add_argument('dataset', help='path to the dataset to be processed')
+    parser.add_argument('--output', help='output folder for the undistorted images')
+    args = parser.parse_args()
+
+    data = dataset.DataSet(args.dataset)
+    if args.output:
+        output_path = args.output
+    else:
+        output_path = os.path.join(data.data_path, 'undistorted')
+
+    print "Undistorting images from dataset [%s] to dir [%s]" % (data.data_path, output_path)
+
+    io.mkdir_p(output_path)
+
+    reconstructions = data.load_reconstruction()
+    for h, reconstruction in enumerate(reconstructions):
+        print "undistorting reconstruction", h
+        for image in reconstruction['shots']:
+            print "undistorting image", image
+            shot = reconstruction["shots"][image]
+
+            original_image = data.image_as_array(image)[:,:,::-1]
+            camera = reconstruction['cameras'][shot['camera']]
+            original_h, original_w = original_image.shape[:2]
+            K = opencv_calibration_matrix(original_w, original_h, camera['focal'])
+            k1 = camera["k1"]
+            k2 = camera["k2"]
+            undistorted_image = cv2.undistort(original_image, K, np.array([k1, k2, 0, 0]))
+
+            new_image_path = os.path.join(output_path, image.split('/')[-1])
+            cv2.imwrite(new_image_path, undistorted_image)

opendm/types.py

@@ -300,6 +300,8 @@ class ODM_Tree(object):
         self.odm_meshing_log = io.join_paths(self.odm_meshing, 'odm_meshing_log.txt')
         
         # odm_texturing
+        self.odm_texturing_undistorted_image_path = io.join_paths(
+            self.odm_texturing, 'undistorted')
         self.odm_textured_model_obj = io.join_paths(
             self.odm_texturing, 'odm_textured_model.obj')
         self.odm_textured_model_mtl = io.join_paths(

scripts/odm_slam.py

@@ -79,6 +79,8 @@ class ODMSlamCell(ecto.Cell):
                 map_points,
                 slam_config,
             ]))
+            # link opensfm images to resized images
+            os.symlink(tree.opensfm + '/images', tree.dataset_resize)
         else:
             log.ODM_WARNING('Found a valid OpenSfM file in: {}'.format(
                 tree.opensfm_reconstruction))

scripts/odm_texturing.py

@@ -1,3 +1,5 @@
+import os
+
 import ecto
 
 from opendm import log
@@ -35,6 +37,28 @@ class ODMTexturingCell(ecto.Cell):
         rerun_cell = args['rerun'] is not None \
             and args['rerun'] == 'odm_texturing'
 
+        # Undistort radial distortion
+        if not os.path.isdir(tree.odm_texturing_undistorted_image_path) or rerun_cell:
+            system.run(' '.join([
+                'cd {} &&'.format(tree.opensfm),
+                'PYTHONPATH={}:{}'.format(context.pyopencv_path,
+                                          context.opensfm_path),
+                'python',
+                os.path.join(context.odm_modules_src_path,
+                             'odm_slam/src/undistort_radial.py'),
+                '--output',
+                tree.odm_texturing_undistorted_image_path,
+                tree.opensfm,
+            ]))
+
+            system.run(
+                'PYTHONPATH=%s %s/bin/export_bundler %s' %
+                (context.pyopencv_path, context.opensfm_path, tree.opensfm))
+        else:
+            log.ODM_WARNING(
+                'Found a valid Bundler file in: %s' %
+                (tree.opensfm_reconstruction))
+
         if not io.file_exists(tree.odm_textured_model_obj) or rerun_cell:
             log.ODM_DEBUG('Writting ODM Textured file in: %s' \
                 % tree.odm_textured_model_obj)
@@ -44,7 +68,7 @@ class ODMTexturingCell(ecto.Cell):
                 'bin': context.odm_modules_path,
                 'out_dir': tree.odm_texturing,
                 'bundle': tree.opensfm_bundle,
-                'imgs_path': tree.dataset_resize,
+                'imgs_path': tree.odm_texturing_undistorted_image_path,
                 'imgs_list': tree.opensfm_bundle_list,
                 'model': tree.odm_mesh,
                 'log': tree.odm_texuring_log,
@@ -64,4 +88,4 @@ class ODMTexturingCell(ecto.Cell):
                 % tree.odm_textured_model_obj)
                 
         log.ODM_INFO('Running OMD Texturing Cell - Finished')
-        return ecto.OK if args['end_with'] != 'odm_texturing' else ecto.QUIT
+        return ecto.OK if args['end_with'] != 'odm_texturing' else ecto.QUIT