Merge pull request #329 from alicevision/devSfmIntrinsicsInput

[CLI] Add possibility to run pipeline from a .sfm file

bin/meshroom_photogrammetry

@@ -5,6 +5,7 @@ import meshroom
 meshroom.setupEnvironment()
 
 import meshroom.core.graph
+from meshroom.nodes.aliceVision.CameraInit import readSfMData
 from meshroom import multiview
 
 parser = argparse.ArgumentParser(description='Launch the full photogrammetry pipeline.')
@@ -43,7 +44,15 @@ if not args.input and not args.inputImages:
     print('Nothing to compute. You need to set --input or --inputImages.')
     exit(1)
 
-graph = multiview.photogrammetry(inputFolder=args.input, inputImages=args.inputImages, output=args.output)
+if  args.input and os.path.isfile(args.input):
+        views, intrinsics = readSfMData(args.input)
+        # print(views)
+        # print(intrinsics)
+
+        graph = multiview.photogrammetry(inputViewpoints=views, inputIntrinsics=intrinsics, inputImages=args.inputImages, output=args.output)
+else:
+    graph = multiview.photogrammetry(inputFolder=args.input, inputImages=args.inputImages, output=args.output)
+
 graph.findNode('DepthMap_1').downscale.value = args.scale
 
 if args.save:
@@ -62,4 +71,3 @@ if args.toNode:
     toNodes = graph.findNodes(args.toNode)
 
 meshroom.core.graph.executeGraph(graph, toNodes=toNodes, forceCompute=args.forceCompute, forceStatus=args.forceStatus)
-

meshroom/multiview.py

@@ -20,7 +20,7 @@ def findFiles(folder, patterns):
     return outFiles
 
 
-def photogrammetry(inputFolder='', inputImages=(), inputViewpoints=(), output=''):
+def photogrammetry(inputFolder='', inputImages=(), inputViewpoints=(), inputIntrinsics=(), output=''):
     """
     Create a new Graph with a complete photogrammetry pipeline.
 
@@ -44,6 +44,8 @@ def photogrammetry(inputFolder='', inputImages=(), inputViewpoints=(), output=''
             cameraInit.viewpoints.extend([{'path': image} for image in inputImages])
         if inputViewpoints:
             cameraInit.viewpoints.extend(inputViewpoints)
+        if inputIntrinsics:
+            cameraInit.intrinsics.extend(inputIntrinsics)
 
     if output:
         texturing = mvsNodes[-1]

meshroom/nodes/aliceVision/CameraInit.py

@@ -45,6 +45,38 @@ Intrinsic = [
                    value=False, uid=[0]),
 ]
 
+def readSfMData(sfmFile):
+    """ Read views and intrinsics from a .sfm file
+
+    Args:
+        sfmFile: the .sfm file containing views and intrinsics
+
+    Returns:
+        The views and intrinsics of the .sfm as two separate lists
+    """
+    import io  # use io.open for Python2/3 compatibility (allow to specify encoding + errors handling)
+    # skip decoding errors to avoid potential exceptions due to non utf-8 characters in images metadata
+    with io.open(sfmFile, 'r', encoding='utf-8', errors='ignore') as f:
+        data = json.load(f)
+
+    intrinsicsKeys = [i.name for i in Intrinsic]
+
+    intrinsics = [{k: v for k, v in item.items() if k in intrinsicsKeys} for item in data.get("intrinsics", [])]
+    for intrinsic in intrinsics:
+        pp = intrinsic['principalPoint']
+        intrinsic['principalPoint'] = {}
+        intrinsic['principalPoint']['x'] = pp[0]
+        intrinsic['principalPoint']['y'] = pp[1]
+        # convert empty string distortionParams (i.e: Pinhole model) to empty list
+        if intrinsic['distortionParams'] == '':
+            intrinsic['distortionParams'] = list()
+
+    viewsKeys = [v.name for v in Viewpoint]
+    views = [{k: v for k, v in item.items() if k in viewsKeys} for item in data.get("views", [])]
+    for view in views:
+        view['metadata'] = json.dumps(view['metadata'])  # convert metadata to string
+
+    return views, intrinsics
 
 class CameraInit(desc.CommandLineNode):
     commandLine = 'aliceVision_cameraInit {allParams} --allowSingleView 1' # don't throw an error if there is only one image
@@ -134,28 +166,7 @@ class CameraInit(desc.CommandLineNode):
 
             # Reload result of aliceVision_cameraInit
             cameraInitSfM = node.output.value
-            import io  # use io.open for Python2/3 compatibility (allow to specify encoding + errors handling)
-            # skip decoding errors to avoid potential exceptions due to non utf-8 characters in images metadata
-            with io.open(cameraInitSfM, 'r', encoding='utf-8', errors='ignore') as f:
-                data = json.load(f)
-
-            intrinsicsKeys = [i.name for i in Intrinsic]
-            intrinsics = [{k: v for k, v in item.items() if k in intrinsicsKeys} for item in data.get("intrinsics", [])]
-            for intrinsic in intrinsics:
-                pp = intrinsic['principalPoint']
-                intrinsic['principalPoint'] = {}
-                intrinsic['principalPoint']['x'] = pp[0]
-                intrinsic['principalPoint']['y'] = pp[1]
-                # convert empty string distortionParams (i.e: Pinhole model) to empty list
-                if intrinsic['distortionParams'] == '':
-                    intrinsic['distortionParams'] = list()
-            # print('intrinsics:', intrinsics)
-            viewsKeys = [v.name for v in Viewpoint]
-            views = [{k: v for k, v in item.items() if k in viewsKeys} for item in data.get("views", [])]
-            for view in views:
-                view['metadata'] = json.dumps(view['metadata'])  # convert metadata to string
-            # print('views:', views)
-            return views, intrinsics
+            return readSfMData(cameraInitSfM)
 
         except Exception:
             raise
@@ -198,4 +209,3 @@ class CameraInit(desc.CommandLineNode):
     def processChunk(self, chunk):
         self.createViewpointsFile(chunk.node)
         desc.CommandLineNode.processChunk(self, chunk)
-

meshroom/nodes/aliceVision/StructureFromMotion.py

@@ -178,6 +178,15 @@ class StructureFromMotion(desc.CommandLineNode):
             uid=[0],
             advanced=True,
         ),
+        desc.BoolParam(
+            name='lockAllIntrinsics',
+            label='Force Lock of All Intrinsic Camera Parameters.',
+            description='Force to keep constant all the intrinsics parameters of the cameras (focal length, \n'
+                        'principal point, distortion if any) during the reconstruction.\n'
+                        'This may be helpful if the input cameras are already fully calibrated.',
+            value=False,
+            uid=[0],
+        ),
         desc.File(
             name='initialPairA',
             label='Initial Pair A',