third_party/d2net/megadepth_utils/undistort_reconstructions.py

import argparse

import imagesize

import os

import subprocess

parser = argparse.ArgumentParser(description="MegaDepth Undistortion")

parser.add_argument(
    "--colmap_path", type=str, required=True, help="path to colmap executable"
)
parser.add_argument("--base_path", type=str, required=True, help="path to MegaDepth")

args = parser.parse_args()

sfm_path = os.path.join(args.base_path, "MegaDepth_v1_SfM")
base_depth_path = os.path.join(args.base_path, "phoenix/S6/zl548/MegaDepth_v1")
output_path = os.path.join(args.base_path, "Undistorted_SfM")

os.mkdir(output_path)

for scene_name in os.listdir(base_depth_path):
    current_output_path = os.path.join(output_path, scene_name)
    os.mkdir(current_output_path)

    image_path = os.path.join(base_depth_path, scene_name, "dense0", "imgs")
    if not os.path.exists(image_path):
        continue

    # Find the maximum image size in scene.
    max_image_size = 0
    for image_name in os.listdir(image_path):
        max_image_size = max(
            max_image_size, max(imagesize.get(os.path.join(image_path, image_name)))
        )

    # Undistort the images and update the reconstruction.
    subprocess.call(
        [
            os.path.join(args.colmap_path, "colmap"),
            "image_undistorter",
            "--image_path",
            os.path.join(sfm_path, scene_name, "images"),
            "--input_path",
            os.path.join(sfm_path, scene_name, "sparse", "manhattan", "0"),
            "--output_path",
            current_output_path,
            "--max_image_size",
            str(max_image_size),
        ]
    )

    # Transform the reconstruction to raw text format.
    sparse_txt_path = os.path.join(current_output_path, "sparse-txt")
    os.mkdir(sparse_txt_path)
    subprocess.call(
        [
            os.path.join(args.colmap_path, "colmap"),
            "model_converter",
            "--input_path",
            os.path.join(current_output_path, "sparse"),
            "--output_path",
            sparse_txt_path,
            "--output_type",
            "TXT",
        ]
    )