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add code snippet to normalize geometry

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Kai Zhang 2021-03-20 21:53:21 -04:00 committed by GitHub
parent cd251d6c40
commit 760e44456a
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1 changed files with 16 additions and 1 deletions
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17
colmap_runner/normalize_cam_dict.py
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@ -1,6 +1,7 @@
import numpy as np import numpy as np
import json import json
import copy import copy
import open3d as o3d
def get_tf_cams(cam_dict, target_radius=1.): 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 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: with open(in_cam_dict_file) as fp:
in_cam_dict = json.load(fp) in_cam_dict = json.load(fp)
translate, scale = get_tf_cams(in_cam_dict, target_radius=target_radius) 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): def transform_pose(W2C, translate, scale):
C2W = np.linalg.inv(W2C) C2W = np.linalg.inv(W2C)
cam_center = C2W[:3, 3] cam_center = C2W[:3, 3]