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Refine intrinsics with COLMAP (#785)

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Refine intrinsics with colmap
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Matthew Tancik 2022-10-16 12:53:11 -07:00 committed by GitHub
parent 555cec9387
commit 8a461924f1
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1 changed files with 13 additions and 4 deletions
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17
scripts/process_data.py
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@ -379,24 +379,33 @@ def run_colmap(
# Bundle adjustment
sparse_dir = colmap_dir / "sparse"
sparse_dir.mkdir(parents=True, exist_ok=True)
bundle_adjuster_cmd = [
mapper_cmd = [
"colmap mapper",
f"--database_path {colmap_dir / 'database.db'}",
f"--image_path {image_dir}",
f"--output_path {sparse_dir}",
]
if colmap_version >= 3.7:
bundle_adjuster_cmd.append("--Mapper.ba_global_function_tolerance 1e-6")
mapper_cmd.append("--Mapper.ba_global_function_tolerance 1e-6")
bundle_adjuster_cmd = " ".join(bundle_adjuster_cmd)
mapper_cmd = " ".join(mapper_cmd)
with status(
msg="[bold yellow]Running COLMAP bundle adjustment... (This may take a while)",
spinner="circle",
verbose=verbose,
):
run_command(bundle_adjuster_cmd, verbose=verbose)
run_command(mapper_cmd, verbose=verbose)
CONSOLE.log("[bold green]:tada: Done COLMAP bundle adjustment.")
with status(msg="[bold yellow]Refine intrinsics...", spinner="dqpb", verbose=verbose):
bundle_adjuster_cmd = [
"colmap bundle_adjuster",
f"--input_path {sparse_dir}/0",
f"--output_path {sparse_dir}/0",
"--BundleAdjustment.refine_principal_point 1",
]
run_command(" ".join(bundle_adjuster_cmd), verbose=verbose)
CONSOLE.log("[bold green]:tada: Done refining intrinsics.")
def colmap_to_json(cameras_path: Path, images_path: Path, output_dir: Path, camera_model: CameraModel) -> int: