mirror of
https://github.com/alicevision/Meshroom.git
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199 lines
9.1 KiB
Python
199 lines
9.1 KiB
Python
import os
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import json
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import psutil
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import shutil
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import tempfile
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import logging
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from meshroom.core import desc
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Viewpoint = [
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desc.IntParam(name="viewId", label="Id", description="Image UID", value=-1, uid=[0], range=(0, 200, 1)),
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desc.IntParam(name="poseId", label="Pose Id", description="Pose Id", value=-1, uid=[0], range=(0, 200, 1)),
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desc.File(name="path", label="Image Path", description="Image Filepath", value="", uid=[0, 1]),
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desc.IntParam(name="intrinsicId", label="Intrinsic", description="Internal Camera Parameters", value=-1, uid=[0], range=(0, 200, 1)),
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desc.IntParam(name="rigId", label="Rig", description="Rig Parameters", value=-1, uid=[0], range=(0, 200, 1)),
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desc.IntParam(name="subPoseId", label="Rig Sub-Pose", description="Rig Sub-Pose Parameters", value=-1, uid=[0], range=(0, 200, 1)),
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desc.StringParam(name="metadata", label="Image Metadata", description="", value="", uid=[]),
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]
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Intrinsic = [
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desc.IntParam(name="intrinsicId", label="Id", description="Intrinsic UID", value=-1, uid=[0], range=(0, 200, 1)),
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desc.FloatParam(name="pxInitialFocalLength", label="Initial Focal Length", description="Initial Guess on the Focal Length", value=-1.0, uid=[0], range=(0.0, 200.0, 1.0)),
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desc.FloatParam(name="pxFocalLength", label="Focal Length", description="Known/Calibrated Focal Length", value=-1.0, uid=[0], range=(0.0, 200.0, 1.0)),
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desc.ChoiceParam(name="type", label="Camera Type", description="Camera Type", value="", values=['', 'pinhole', 'radial1', 'radial3', 'brown', 'fisheye4'], exclusive=True, uid=[0]),
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# desc.StringParam(name="deviceMake", label="Make", description="Camera Make", value="", uid=[]),
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# desc.StringParam(name="deviceModel", label="Model", description="Camera Model", value="", uid=[]),
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# desc.StringParam(name="sensorWidth", label="Sensor Width", description="Camera Sensor Width", value="", uid=[0]),
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desc.IntParam(name="width", label="Width", description="Image Width", value=0, uid=[], range=(0, 10000, 1)),
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desc.IntParam(name="height", label="Height", description="Image Height", value=0, uid=[], range=(0, 10000, 1)),
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desc.StringParam(name="serialNumber", label="Serial Number", description="Device Serial Number (camera and lens combined)", value="", uid=[]),
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desc.GroupAttribute(name="principalPoint", label="Principal Point", description="", groupDesc=[
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desc.FloatParam(name="x", label="x", description="", value=0, uid=[], range=(0, 10000, 1)),
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desc.FloatParam(name="y", label="y", description="", value=0, uid=[], range=(0, 10000, 1)),
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]),
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desc.ListAttribute(
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name="distortionParams",
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elementDesc=desc.FloatParam(name="p", label="", description="", value=0.0, uid=[0], range=(-0.1, 0.1, 0.01)),
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label="Distortion Params",
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description="Distortion Parameters",
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),
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]
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class CameraInit(desc.CommandLineNode):
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internalFolder = '{cache}/{nodeType}/{uid0}/'
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commandLine = 'aliceVision_cameraInit {allParams} --allowSingleView 1' # don't throw an error if there is only one image
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size = desc.DynamicNodeSize('viewpoints')
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inputs = [
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desc.ListAttribute(
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name="viewpoints",
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elementDesc=desc.GroupAttribute(name="viewpoint", label="Viewpoint", description="", groupDesc=Viewpoint),
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label="Viewpoints",
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description="Input viewpoints",
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group="",
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),
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desc.ListAttribute(
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name="intrinsics",
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elementDesc=desc.GroupAttribute(name="intrinsic", label="Intrinsic", description="", groupDesc=Intrinsic),
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label="Intrinsics",
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description="Camera Intrinsics",
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group="",
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),
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desc.FloatParam(
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name='defaultFieldOfView',
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label='Default Field Of View',
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description='Empirical value for the field of view in degree.',
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value=45.0,
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range=(0, 180.0, 1),
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uid=[0],
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),
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desc.File(
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name='sensorDatabase',
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label='Sensor Database',
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description='''Camera sensor width database path.''',
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value=os.environ.get('ALICEVISION_SENSOR_DB', ''),
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uid=[],
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),
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desc.ChoiceParam(
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name='verboseLevel',
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label='Verbose Level',
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description='''verbosity level (fatal, error, warning, info, debug, trace).''',
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value='info',
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values=['fatal', 'error', 'warning', 'info', 'debug', 'trace'],
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exclusive=True,
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uid=[],
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),
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]
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outputs = [
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desc.File(
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name='output',
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label='Output',
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description='''Output SfMData.''',
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value='{cache}/{nodeType}/{uid0}/cameraInit.sfm',
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uid=[],
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),
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]
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def buildIntrinsics(self, node, additionalViews=()):
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""" Build intrinsics from node current views and optional additional views
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Args:
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node: the CameraInit node instance to build intrinsics for
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additionalViews: (optional) the new views (list of path to images) to add to the node's viewpoints
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Returns:
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The updated views and intrinsics as two separate lists
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"""
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assert isinstance(node.nodeDesc, CameraInit)
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origCmdVars = node._cmdVars.copy()
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# Python3: with tempfile.TemporaryDirectory(prefix="Meshroom_CameraInit") as tmpCache
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tmpCache = tempfile.mkdtemp()
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localCmdVars = {
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'cache': tmpCache,
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'nodeType': node.nodeType,
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}
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node._buildCmdVars(localCmdVars)
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node._cmdVars = localCmdVars
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try:
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os.makedirs(os.path.join(tmpCache, node.internalFolder))
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self.createViewpointsFile(node, additionalViews)
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cmd = self.buildCommandLine(node.chunks[0])
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cmd += " --allowIncompleteOutput 1" # don't throw an error if the image intrinsic is undefined
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# logging.debug(' - commandLine:', cmd)
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subprocess = psutil.Popen(cmd, stdout=None, stderr=None, shell=True)
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stdout, stderr = subprocess.communicate()
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subprocess.wait()
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if subprocess.returncode != 0:
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logging.warning('CameraInit: Error on buildIntrinsics of node "{}".'.format(node.name))
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# Reload result of aliceVision_cameraInit
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cameraInitSfM = node.output.value
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jsonData = open(cameraInitSfM, 'r').read()
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data = json.loads(jsonData)
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intrinsicsKeys = [i.name for i in Intrinsic]
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intrinsics = [{k: v for k, v in item.items() if k in intrinsicsKeys} for item in data.get("intrinsics", [])]
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for intrinsic in intrinsics:
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pp = intrinsic['principalPoint']
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intrinsic['principalPoint'] = {}
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intrinsic['principalPoint']['x'] = pp[0]
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intrinsic['principalPoint']['y'] = pp[1]
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# print('intrinsics:', intrinsics)
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viewsKeys = [v.name for v in Viewpoint]
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views = [{k: v for k, v in item.items() if k in viewsKeys} for item in data.get("views", [])]
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for view in views:
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view['metadata'] = json.dumps(view['metadata']) # convert metadata to string
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# print('views:', views)
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return views, intrinsics
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except Exception:
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logging.warning('CameraInit: Error on buildIntrinsics of node "{}".'.format(node.name))
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raise
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finally:
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node._cmdVars = origCmdVars
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node._buildCmdVars(localCmdVars)
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shutil.rmtree(tmpCache)
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def createViewpointsFile(self, node, additionalViews=()):
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node.viewpointsFile = ""
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if node.viewpoints or additionalViews:
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newViews = []
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for path in additionalViews: # format additional views to match json format
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newViews.append({"path": path})
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intrinsics = node.intrinsics.getPrimitiveValue(exportDefault=True)
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for intrinsic in intrinsics:
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intrinsic['principalPoint'] = [intrinsic['principalPoint']['x'], intrinsic['principalPoint']['y']]
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views = node.viewpoints.getPrimitiveValue(exportDefault=False)
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for view in views:
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# filter out unnecessary attributes
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if 'metadata' in view:
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del view['metadata']
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sfmData = {
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"version": [1, 0, 0],
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"views": views + newViews,
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"intrinsics": intrinsics,
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"featureFolder": "",
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"matchingFolder": "",
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}
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node.viewpointsFile = '{cache}/{nodeType}/{uid0}/viewpoints.sfm'.format(**node._cmdVars)
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with open(node.viewpointsFile, 'w') as f:
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f.write(json.dumps(sfmData, indent=4))
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# python3: json.dumps(node.viewpoints, f, indent=4)
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def buildCommandLine(self, chunk):
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cmd = desc.CommandLineNode.buildCommandLine(self, chunk)
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if chunk.node.viewpointsFile:
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cmd += ' --input "{}"'.format(chunk.node.viewpointsFile)
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return cmd
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def processChunk(self, chunk):
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self.createViewpointsFile(chunk.node)
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desc.CommandLineNode.processChunk(self, chunk)
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