add code snippet to normalize geometry

colmap_runner/normalize_cam_dict.py

@@ -1,6 +1,7 @@
 import numpy as np
 import json
 import copy
+import open3d as o3d
 
 
 def get_tf_cams(cam_dict, target_radius=1.):
@@ -27,12 +28,26 @@ def get_tf_cams(cam_dict, target_radius=1.):
     return translate, scale
 
 
-def normalize_cam_dict(in_cam_dict_file, out_cam_dict_file, target_radius=1.):
+def normalize_cam_dict(in_cam_dict_file, out_cam_dict_file, target_radius=1., in_geometry_file=None, out_geometry_file=None):
     with open(in_cam_dict_file) as fp:
         in_cam_dict = json.load(fp)
 
     translate, scale = get_tf_cams(in_cam_dict, target_radius=target_radius)
 
+    if in_geometry_file is not None and out_geometry_file is not None:
+        # check this page if you encounter issue in file io: http://www.open3d.org/docs/0.9.0/tutorial/Basic/file_io.html
+        geometry = o3d.io.read_triangle_mesh(in_geometry_file)
+        
+        tf_translate = np.eye(4)
+        tf_translate[:3, 3:4] = translate
+        tf_scale = np.eye(4)
+        tf_scale[:3, :3] *= scale
+        tf = np.matmul(tf_scale, tf_translate)
+
+        geometry_norm = geometry.transform(tf)
+        o3d.io.write_triangle_mesh(out_geometry_file, geometry_norm)
+  
+    mesh_norm = mesh.transform(tf)
     def transform_pose(W2C, translate, scale):
         C2W = np.linalg.inv(W2C)
         cam_center = C2W[:3, 3]