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* According to Meshroom issue #1179 (https://github.com/alicevision/meshroom/issues/1179),
add the describer type "tag16h5" to the following modules:
- ConvertSfmFormat (e.g., to be able to export the 3D AprilTag positions in a human-readable format as .sfm,
or to see only the AprilTag marker positions in the 3D view via .abc)
- FeatureExtraction (to be able to detect AprilTag markers from the tag16h5 family)
- FeatureMatching (to be able to match AprilTag markers)
- SfmTransform (to be able to use AprilTag markers, e.g., for the auto_from_markers transform)
- StructureFromMotion (to be able to compute the 3D positions of AprilTag markers)
* Added a new input to sfmTransform: markerDistances, which is a pair of marker IDs associated with the distance between them.
Added a corresponding new transform: from_marker_distances, which scales the model according to the given distances between pairs of markers.
Added another transform: auto_from_markers, which uses the existing markers parameter (ignoring their x,y,z positions) and applies the auto_from_... function only based on these given markers. The latter transform can, e.g., be used to align a set of markers with the ground plane.
* Revert "Added a new input to sfmTransform: markerDistances, which is a pair of marker IDs associated with the distance between them."
This reverts commit ed87c68f39
.
Co-authored-by: jarne <jarne@ieee.org>
Co-authored-by: Fabien Castan <fabcastan@gmail.com>
211 lines
8.8 KiB
Python
211 lines
8.8 KiB
Python
__version__ = "3.0"
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from meshroom.core import desc
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import os.path
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class SfMTransform(desc.CommandLineNode):
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commandLine = 'aliceVision_utils_sfmTransform {allParams}'
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size = desc.DynamicNodeSize('input')
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category = 'Utils'
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documentation = '''
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This node allows to change the coordinate system of one SfM scene.
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The transformation can be based on:
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* transformation: Apply a given transformation
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* auto_from_cameras: Fit all cameras into a box [-1,1]
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* auto_from_landmarks: Fit all landmarks into a box [-1,1]
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* from_single_camera: Use a specific camera as the origin of the coordinate system
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* from_markers: Align specific markers to custom coordinates
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* from_gps: Align with the gps positions from the image metadata
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'''
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inputs = [
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desc.File(
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name='input',
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label='Input',
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description='''SfMData file .''',
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value='',
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uid=[0],
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),
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desc.ChoiceParam(
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name='method',
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label='Transformation Method',
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description="Transformation method:\n"
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" * transformation: Apply a given transformation\n"
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" * manual: Apply the gizmo transformation (show the transformed input)\n"
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" * auto_from_cameras: Use cameras\n"
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" * auto_from_landmarks: Use landmarks\n"
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" * from_single_camera: Use a specific camera as the origin of the coordinate system\n"
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" * from_center_camera: Use the center camera as the origin of the coordinate system\n"
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" * from_markers: Align specific markers to custom coordinates\n"
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" * from_gps: Align with the gps positions from the image metadata",
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value='auto_from_landmarks',
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values=['transformation', 'manual', 'auto_from_cameras', 'auto_from_landmarks', 'from_single_camera', 'from_center_camera', 'from_markers', 'from_gps'],
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exclusive=True,
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uid=[0],
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),
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desc.StringParam(
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name='transformation',
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label='Transformation',
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description="Required only for 'transformation' and 'from_single_camera' methods:\n"
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" * transformation: Align [X,Y,Z] to +Y-axis, rotate around Y by R deg, scale by S; syntax: X,Y,Z;R;S\n"
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" * from_single_camera: Camera UID or simplified regular expression to match image filepath (like '*camera2*.jpg')",
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value='',
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uid=[0],
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enabled=lambda node: node.method.value == "transformation" or node.method.value == "from_single_camera",
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),
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desc.GroupAttribute(
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name="manualTransform",
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label="Manual Transform (Gizmo)",
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description="Translation, rotation (Euler ZXY) and uniform scale.",
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groupDesc=[
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desc.GroupAttribute(
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name="manualTranslation",
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label="Translation",
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description="Translation in space.",
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groupDesc=[
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desc.FloatParam(
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name="x", label="x", description="X Offset",
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value=0.0,
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uid=[0],
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range=(-20.0, 20.0, 0.01)
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),
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desc.FloatParam(
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name="y", label="y", description="Y Offset",
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value=0.0,
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uid=[0],
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range=(-20.0, 20.0, 0.01)
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),
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desc.FloatParam(
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name="z", label="z", description="Z Offset",
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value=0.0,
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uid=[0],
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range=(-20.0, 20.0, 0.01)
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)
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],
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joinChar=","
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),
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desc.GroupAttribute(
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name="manualRotation",
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label="Euler Rotation",
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description="Rotation in Euler degrees.",
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groupDesc=[
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desc.FloatParam(
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name="x", label="x", description="Euler X Rotation",
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value=0.0,
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uid=[0],
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range=(-90.0, 90.0, 1)
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),
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desc.FloatParam(
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name="y", label="y", description="Euler Y Rotation",
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value=0.0,
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uid=[0],
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range=(-180.0, 180.0, 1)
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),
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desc.FloatParam(
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name="z", label="z", description="Euler Z Rotation",
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value=0.0,
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uid=[0],
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range=(-180.0, 180.0, 1)
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)
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],
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joinChar=","
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),
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desc.FloatParam(
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name="manualScale",
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label="Scale",
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description="Uniform Scale.",
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value=1.0,
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uid=[0],
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range=(0.0, 20.0, 0.01)
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)
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],
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joinChar=",",
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enabled=lambda node: node.method.value == "manual",
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),
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desc.ChoiceParam(
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name='landmarksDescriberTypes',
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label='Landmarks Describer Types',
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description='Image describer types used to compute the mean of the point cloud. (only for "landmarks" method).',
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value=['sift', 'dspsift', 'akaze'],
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values=['sift', 'sift_float', 'sift_upright', 'dspsift', 'akaze', 'akaze_liop', 'akaze_mldb', 'cctag3', 'cctag4', 'sift_ocv', 'akaze_ocv', 'tag16h5', 'unknown'],
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exclusive=False,
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uid=[0],
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joinChar=',',
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),
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desc.FloatParam(
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name='scale',
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label='Additional Scale',
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description='Additional scale to apply.',
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value=1.0,
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range=(0.0, 100.0, 0.1),
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uid=[0],
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),
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desc.ListAttribute(
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name="markers",
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elementDesc=desc.GroupAttribute(name="markerAlign", label="Marker Align", description="", joinChar=":", groupDesc=[
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desc.IntParam(name="markerId", label="Marker", description="Marker Id", value=0, uid=[0], range=(0, 32, 1)),
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desc.GroupAttribute(name="markerCoord", label="Coord", description="", joinChar=",", groupDesc=[
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desc.FloatParam(name="x", label="x", description="", value=0.0, uid=[0], range=(-2.0, 2.0, 1.0)),
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desc.FloatParam(name="y", label="y", description="", value=0.0, uid=[0], range=(-2.0, 2.0, 1.0)),
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desc.FloatParam(name="z", label="z", description="", value=0.0, uid=[0], range=(-2.0, 2.0, 1.0)),
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])
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]),
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label="Markers",
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description="Markers alignment points",
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),
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desc.BoolParam(
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name='applyScale',
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label='Scale',
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description='Apply scale transformation.',
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value=True,
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uid=[0],
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enabled=lambda node: node.method.value != "manual",
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),
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desc.BoolParam(
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name='applyRotation',
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label='Rotation',
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description='Apply rotation transformation.',
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value=True,
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uid=[0],
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enabled=lambda node: node.method.value != "manual",
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),
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desc.BoolParam(
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name='applyTranslation',
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label='Translation',
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description='Apply translation transformation.',
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value=True,
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uid=[0],
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enabled=lambda node: node.method.value != "manual",
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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 SfMData File',
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description='''Aligned SfMData file .''',
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value=lambda attr: desc.Node.internalFolder + (os.path.splitext(os.path.basename(attr.node.input.value))[0] or 'sfmData') + '.abc',
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uid=[],
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),
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desc.File(
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name='outputViewsAndPoses',
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label='Output Poses',
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description='''Path to the output sfmdata file with cameras (views and poses).''',
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value=desc.Node.internalFolder + 'cameras.sfm',
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uid=[],
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),
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]
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