1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
|
# Copyright (c) 2023, ETH Zurich and UNC Chapel Hill.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
# * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
# its contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import numpy as np
from read_write_model import read_model, write_model
from tempfile import mkdtemp
def compare_cameras(cameras1, cameras2):
assert len(cameras1) == len(cameras2)
for camera_id1 in cameras1:
camera1 = cameras1[camera_id1]
camera2 = cameras2[camera_id1]
assert camera1.id == camera2.id
assert camera1.width == camera2.width
assert camera1.height == camera2.height
assert np.allclose(camera1.params, camera2.params)
def compare_images(images1, images2):
assert len(images1) == len(images2)
for image_id1 in images1:
image1 = images1[image_id1]
image2 = images2[image_id1]
assert image1.id == image2.id
assert np.allclose(image1.qvec, image2.qvec)
assert np.allclose(image1.tvec, image2.tvec)
assert image1.camera_id == image2.camera_id
assert image1.name == image2.name
assert np.allclose(image1.xys, image2.xys)
assert np.array_equal(image1.point3D_ids, image2.point3D_ids)
def compare_points(points3D1, points3D2):
for point3D_id1 in points3D1:
point3D1 = points3D1[point3D_id1]
point3D2 = points3D2[point3D_id1]
assert point3D1.id == point3D2.id
assert np.allclose(point3D1.xyz, point3D2.xyz)
assert np.array_equal(point3D1.rgb, point3D2.rgb)
assert np.allclose(point3D1.error, point3D2.error)
assert np.array_equal(point3D1.image_ids, point3D2.image_ids)
assert np.array_equal(point3D1.point2D_idxs, point3D2.point2D_idxs)
def main():
import sys
if len(sys.argv) != 3:
print(
"Usage: python read_model.py "
"path/to/model/folder/txt path/to/model/folder/bin"
)
return
print("Comparing text and binary models ...")
path_to_model_txt_folder = sys.argv[1]
path_to_model_bin_folder = sys.argv[2]
cameras_txt, images_txt, points3D_txt = read_model(
path_to_model_txt_folder, ext=".txt"
)
cameras_bin, images_bin, points3D_bin = read_model(
path_to_model_bin_folder, ext=".bin"
)
compare_cameras(cameras_txt, cameras_bin)
compare_images(images_txt, images_bin)
compare_points(points3D_txt, points3D_bin)
print("... text and binary models are equal.")
print("Saving text model and reloading it ...")
tmpdir = mkdtemp()
write_model(cameras_bin, images_bin, points3D_bin, tmpdir, ext=".txt")
cameras_txt, images_txt, points3D_txt = read_model(tmpdir, ext=".txt")
compare_cameras(cameras_txt, cameras_bin)
compare_images(images_txt, images_bin)
compare_points(points3D_txt, points3D_bin)
print("... saved text and loaded models are equal.")
print("Saving binary model and reloading it ...")
write_model(cameras_bin, images_bin, points3D_bin, tmpdir, ext=".bin")
cameras_bin, images_bin, points3D_bin = read_model(tmpdir, ext=".bin")
compare_cameras(cameras_txt, cameras_bin)
compare_images(images_txt, images_bin)
compare_points(points3D_txt, points3D_bin)
print("... saved binary and loaded models are equal.")
if __name__ == "__main__":
main()
|
