Support COLMAP reconstructions with non-flat image dirs (#3006)

* Support COLMAP reconstructions with nested image dirs

The code was previously looking for the file.name, which drops all
directory information from the path. Instead, we want to get the file
path relative to the data dir, which will only drop parts of the path
above the data dir, allowing us to recurse into subdirectories within
the images dir

* Adhere to style guidelines

* Add testcase to cover image dirs with subdirs

nerfstudio/process_data/images_to_nerfstudio_dataset.py

@@ -87,7 +87,9 @@ class ImagesToNerfstudioDataset(ColmapConverterToNerfstudioDataset):
                 )
                 image_rename_map_paths.update(eval_image_rename_map_paths)
 
-            image_rename_map = dict((a.name, b.name) for a, b in image_rename_map_paths.items())
+            image_rename_map = dict(
+                (a.relative_to(self.data).as_posix(), b.name) for a, b in image_rename_map_paths.items()
+            )
             num_frames = len(image_rename_map)
             summary_log.append(f"Starting with {num_frames} images")
 

nerfstudio/process_data/process_data_utils.py

@@ -62,7 +62,7 @@ CAMERA_MODELS = {
 }
 
 
-def list_images(data: Path, recursive: bool = False) -> List[Path]:
+def list_images(data: Path, recursive: bool = True) -> List[Path]:
     """Lists all supported images in a directory
 
     Args:

tests/process_data/test_process_images.py

@@ -121,3 +121,90 @@ def test_process_images_skip_colmap(tmp_path: Path):
     )
     dataparser_poses = np.linalg.inv(dataparser_poses)
     np.testing.assert_allclose(gt_poses, dataparser_poses, rtol=0, atol=1e-5)
+
+
+def test_process_images_recursively_skip_colmap(tmp_path: Path):
+    """
+    Test ns-process-data images when images contains subdirectories"
+    """
+    # Mock a colmap sparse model
+    width = 100
+    height = 150
+    sparse_path = tmp_path / "sparse" / "0"
+    sparse_path.mkdir(exist_ok=True, parents=True)
+    (tmp_path / "images").mkdir(exist_ok=True, parents=True)
+    write_cameras_binary(
+        {1: Camera(1, "OPENCV", width, height, [110, 110, 50, 75, 0, 0, 0, 0, 0, 0])},
+        sparse_path / "cameras.bin",
+    )
+    write_points3D_binary(
+        {
+            1: Point3D(
+                id=1,
+                xyz=np.array([0, 0, 0]),
+                rgb=np.array([0, 0, 0]),
+                error=np.array([0]),
+                image_ids=np.array([1]),
+                point2D_idxs=np.array([0]),
+            ),
+        },
+        sparse_path / "points3D.bin",
+    )
+    frames = {}
+    num_frames = 9
+    num_subdirs = 3
+    qvecs = random_quaternion(num_frames)
+    tvecs = np.random.uniform(size=(num_frames, 3))
+    original_poses = np.concatenate(
+        (
+            np.concatenate(
+                (
+                    np.stack(list(map(qvec2rotmat, qvecs))),
+                    tvecs[:, :, None],
+                ),
+                -1,
+            ),
+            np.array([[[0, 0, 0, 1]]], dtype=qvecs.dtype).repeat(num_frames, 0),
+        ),
+        -2,
+    )
+    for i in range(num_frames):
+        subdir = f"subdir_{num_frames // num_subdirs}"
+        frames[i + 1] = ColmapImage(i + 1, qvecs[i], tvecs[i], 1, f"{subdir}/image_{i}.png", [], [])
+        (tmp_path / "images" / subdir).mkdir(parents=True, exist_ok=True)
+        Image.new("RGB", (width, height)).save(tmp_path / "images" / subdir / f"image_{i}.png")
+    write_images_binary(frames, sparse_path / "images.bin")
+
+    # Mock missing COLMAP and ffmpeg in the dev env
+    old_path = os.environ.get("PATH", "")
+    os.environ["PATH"] = str(tmp_path / "mocked_bin") + f":{old_path}"
+    (tmp_path / "mocked_bin").mkdir()
+    (tmp_path / "mocked_bin" / "colmap").touch(mode=0o777)
+    (tmp_path / "mocked_bin" / "ffmpeg").touch(mode=0o777)
+
+    # Convert images into a NerfStudio dataset
+    cmd = ImagesToNerfstudioDataset(
+        data=tmp_path / "images", output_dir=tmp_path / "nerfstudio", colmap_model_path=sparse_path, skip_colmap=True
+    )
+    cmd.main()
+    os.environ["PATH"] = old_path
+
+    assert (tmp_path / "nerfstudio" / "transforms.json").exists()
+    parser = NerfstudioDataParserConfig(
+        data=tmp_path / "nerfstudio",
+        downscale_factor=None,
+        orientation_method="none",  # orientation_method,
+        center_method="none",
+        auto_scale_poses=False,
+    ).setup()
+    outputs = parser.get_dataparser_outputs("train")
+    assert len(outputs.image_filenames) == 9
+    assert torch.is_tensor(outputs.dataparser_transform)
+
+    # Test if the original poses can be obtained back
+    dataparser_poses = outputs.transform_poses_to_original_space(outputs.cameras.camera_to_worlds, "opencv").numpy()
+    dataparser_poses = np.concatenate(
+        (dataparser_poses, np.array([[[0, 0, 0, 1]]]).repeat(len(dataparser_poses), 0)), 1
+    )
+    dataparser_poses = np.linalg.inv(dataparser_poses)
+    np.testing.assert_allclose(original_poses, dataparser_poses, rtol=0, atol=1e-5)