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Fix camera orientation in viewer

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This commit is contained in:
Kevin Chen 2022-11-06 23:44:38 +00:00
parent 19d996ef5e
commit a32b254254
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1 changed files with 16 additions and 12 deletions
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28
scripts/process_data.py
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@ -253,13 +253,14 @@ def convert_insta360_to_images(
return summary_log
def copy_images(data: Path, image_dir: Path, verbose) -> int:
def copy_images(data: Path, image_dir: Path, verbose: bool, rename: bool = True) -> int:
"""Copy images from a directory to a new directory.
Args:
data: Path to the directory of images.
image_dir: Path to the output directory.
verbose: If True, print extra logging.
rename: If True, rename the images to be sequential.
Returns:
The number of images copied.
"""
@ -276,7 +277,11 @@ def copy_images(data: Path, image_dir: Path, verbose) -> int:
for idx, image_path in enumerate(image_paths):
if verbose:
CONSOLE.log(f"Copying image {idx + 1} of {len(image_paths)}...")
shutil.copy(image_path, image_dir / f"frame_{idx + 1:05d}{image_path.suffix}")
if rename:
fname = f"frame_{idx + 1:05d}{image_path.suffix}"
else:
fname = image_path.name
shutil.copy(image_path, image_dir / fname)
num_frames = len(image_paths)
@ -586,11 +591,9 @@ def opensfm_to_json(reconstruction_path: Path, output_dir: Path, camera_model: C
w2c = np.concatenate([rotation, translation], 1)
w2c = np.concatenate([w2c, np.array([[0, 0, 0, 1]])], 0)
c2w = np.linalg.inv(w2c)
# Convert from COLMAP's camera coordinate system to ours
# TODO determine if this is necessary for OpenSfM or not
# Convert camera +z forwards (OpenSfM) convention to -z forwards (NeRF) convention
# Equivalent to right-multiplication by diag([1, -1, -1, 1])
c2w[0:3, 1:3] *= -1
c2w = c2w[np.array([1, 0, 2, 3]), :]
c2w[2, :] *= -1
name = Path(f"./images/{shot_name}")
@ -602,10 +605,10 @@ def opensfm_to_json(reconstruction_path: Path, output_dir: Path, camera_model: C
# For now just assume it's all the same camera
cam = cams[list(cams.keys())[0]]
out = {
"fl_x": float(cam["focal_x"]) * max(cam["height"], cam["width"]) if "focal_x" in cam else 1.,
"fl_y": float(cam["focal_y"]) * max(cam["height"], cam["width"]) if "focal_y" in cam else 1.,
"cx": cam["width"] / 2.0 + float(cam["c_x"]) * cam["width"] if "c_x" in cam else 1. ,
"cy": cam["height"] / 2.0 + float(cam["c_y"]) * cam["height"] if "c_y" in cam else 1. ,
"fl_x": float(cam["focal_x"]) * max(cam["height"], cam["width"]) if "focal_x" in cam else 1.0,
"fl_y": float(cam["focal_y"]) * max(cam["height"], cam["width"]) if "focal_y" in cam else 1.0,
"cx": cam["width"] / 2.0 + float(cam["c_x"]) * cam["width"] if "c_x" in cam else 1.0,
"cy": cam["height"] / 2.0 + float(cam["c_y"]) * cam["height"] if "c_y" in cam else 1.0,
"w": cam["width"],
"h": cam["height"],
"camera_model": camera_model.value,
@ -711,7 +714,8 @@ class ProcessImages:
summary_log = []
# Copy images to output directory
num_frames = copy_images(self.data, image_dir=image_dir, verbose=self.verbose)
# NOTE(kchen): is this OK with COLMAP?
num_frames = copy_images(self.data, image_dir=image_dir, verbose=self.verbose, rename=False)
summary_log.append(f"Starting with {num_frames} images")
# Downscale images
@ -946,7 +950,7 @@ class ProcessInsta360:
gpu=self.gpu,
verbose=self.verbose,
matching_method=self.matching_method,
opensfm_install=Path("/scratch2/ksalahi/OpenSfM")
opensfm_install=Path("/scratch2/ksalahi/OpenSfM"),
)
# Save transforms.json