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#!/usr/bin/python
# #### BEGIN LICENSE BLOCK ####
#
# bundler.py - Python convenience module for running Bundler.
# Copyright (C) 2013 Isaac Lenton (aka ilent2)
#
# This program is free software; you can redistribute it and/or
# modify it under the terms of the GNU General Public License
# as published by the Free Software Foundation; either version 2
# of the License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program; if not, write to the Free Software Foundation,
# Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
#
# #### END LICENSE BLOCK ####
import argparse
import gzip
import os
import sys
#import Image
import glob
import subprocess
import tempfile
import fileinput
import shutil
import time
import multiprocessing
from multiprocessing.pool import ThreadPool
from PIL import Image, ExifTags
VERSION = "Bundler 0.4"
DESCRIPTION = """\
Python convenience module to process a series of images and reconstruct
the scene using Bundler.
Bundler is a structure-from-motion system for unordered image
collections (for instance, images from the Internet). Bundler takes a
set of images, image features, and image matches as input, and
produces a 3D reconstruction of the camera and (sparse) scene geometry
as output."""
# This module replaces the existing RunBundler.sh script with a more
# cross platform implementation. Additional elements replaced:
# - RunBundler.sh 2008-2013 Noah Snavely
# - ToSift.sh
# - extract_focal.pl 2005-2009 Noah Snavely
# - jhead
MOD_PATH = os.path.dirname(__file__)
BIN_PATH = os.path.join(MOD_PATH, "./bin")
LIB_PATH = os.path.join(MOD_PATH, "./lib")
BIN_SIFT = None
BIN_BUNDLER = None
BIN_MATCHKEYS = None
BIN_MATCHKEYS_PART = None
BIN_BUNDLE2PMVS = None
BIN_RADIAL_UNDISTORT = None
BIN_CMVS = None
BIN_GEN_OPTION = None
BIN_PMVS2 = None
CCD_WIDTHS = {
"Asahi Optical Co.,Ltd. PENTAX Optio330RS" : 7.176, # 1/1.8"
"Canon Canon DIGITAL IXUS 400" : 7.176, # 1/1.8"
"Canon Canon DIGITAL IXUS 40" : 5.76, # 1/2.5"
"Canon Canon DIGITAL IXUS 430" : 7.176, # 1/1.8"
"Canon Canon DIGITAL IXUS 500" : 7.176, # 1/1.8"
"Canon Canon DIGITAL IXUS 50" : 5.76, # 1/2.5"
"Canon Canon DIGITAL IXUS 55" : 5.76, # 1/2.5"
"Canon Canon DIGITAL IXUS 60" : 5.76, # 1/2.5"
"Canon Canon DIGITAL IXUS 65" : 5.76, # 1/2.5"
"Canon Canon DIGITAL IXUS 700" : 7.176, # 1/1.8"
"Canon Canon DIGITAL IXUS 750" : 7.176, # 1/1.8"
"Canon Canon DIGITAL IXUS 800 IS" : 5.76, # 1/2.5"
"Canon Canon DIGITAL IXUS II" : 5.27, # 1/2.7"
"Canon Canon IXUS 240 HS" : 6.16, # 1/2.3"
"Canon Canon EOS 10D" : 22.7,
"Canon Canon EOS-1D Mark II" : 28.7,
"Canon Canon EOS-1Ds Mark II" : 35.95,
"Canon Canon EOS 20D" : 22.5,
"Canon Canon EOS 20D" : 22.5,
"Canon Canon EOS 300D DIGITAL" : 22.66,
"Canon Canon EOS 30D" : 22.5,
"Canon Canon EOS 350D DIGITAL" : 22.2,
"Canon Canon EOS 400D DIGITAL" : 22.2,
"Canon Canon EOS 40D" : 22.2,
"Canon Canon EOS 5D" : 35.8,
"Canon Canon EOS 5D Mark II" : 36.0,
"Canon Canon EOS 5D Mark III" : 36.0,
"Canon Canon EOS DIGITAL REBEL" : 22.66,
"Canon Canon EOS DIGITAL REBEL XT" : 22.2,
"Canon Canon EOS DIGITAL REBEL XTi" : 22.2,
"Canon Canon EOS Kiss Digital" : 22.66,
"Canon Canon EOS 1100D" : 22.2,
"Canon Canon IXY DIGITAL 600" : 7.176, # 1/1.8"
"Canon Canon PowerShot A20" : 7.176, # 1/1.8"
"Canon Canon PowerShot A400" : 4.54, # 1/3.2"
"Canon Canon PowerShot A40" : 5.27, # 1/2.7"
"Canon Canon PowerShot A510" : 5.76, # 1/2.5"
"Canon Canon PowerShot A520" : 5.76, # 1/2.5"
"Canon Canon PowerShot A530" : 5.76, # 1/2.5"
"Canon Canon PowerShot A60" : 5.27, # 1/2.7"
"Canon Canon PowerShot A620" : 7.176, # 1/1.8"
"Canon Canon PowerShot A630" : 7.176, # 1/1.8"
"Canon Canon PowerShot A640" : 7.176, # 1/1.8"
"Canon Canon PowerShot A700" : 5.76, # 1/2.5"
"Canon Canon PowerShot A70" : 5.27, # 1/2.7"
"Canon Canon PowerShot A710 IS" : 5.76, # 1/2.5"
"Canon Canon PowerShot A75" : 5.27, # 1/2.7"
"Canon Canon PowerShot A80" : 7.176, # 1/1.8"
"Canon Canon PowerShot A85" : 5.27, # 1/2.7"
"Canon Canon PowerShot A95" : 7.176, # 1/1.8"
"Canon Canon PowerShot G1" : 7.176, # 1/1.8"
"Canon Canon PowerShot G2" : 7.176, # 1/1.8"
"Canon Canon PowerShot G3" : 7.176, # 1/1.8"
"Canon Canon PowerShot G5" : 7.176, # 1/1.8"
"Canon Canon PowerShot G6" : 7.176, # 1/1.8"
"Canon Canon PowerShot G7" : 7.176, # 1/1.8"
"Canon Canon PowerShot G9" : 7.600, # 1/1.7"
"Canon Canon PowerShot Pro1" : 8.8, # 2/3"
"Canon Canon PowerShot S110" : 5.27, # 1/2.7"
"Canon Canon PowerShot S1 IS" : 5.27, # 1/2.7"
"Canon Canon PowerShot S200" : 5.27, # 1/2.7"
"Canon Canon PowerShot S2 IS" : 5.76, # 1/2.5"
"Canon Canon PowerShot S30" : 7.176, # 1/1.8"
"Canon Canon PowerShot S3 IS" : 5.76, # 1/2.5"
"Canon Canon PowerShot S400" : 7.176, # 1/1.8"
"Canon Canon PowerShot S40" : 7.176, # 1/1.8"
"Canon Canon PowerShot S410" : 7.176, # 1/1.8"
"Canon Canon PowerShot S45" : 7.176, # 1/1.8"
"Canon Canon PowerShot S500" : 7.176, # 1/1.8"
"Canon Canon PowerShot S50" : 7.176, # 1/1.8"
"Canon Canon PowerShot S60" : 7.176, # 1/1.8"
"Canon Canon PowerShot S70" : 7.176, # 1/1.8"
"Canon Canon PowerShot S80" : 7.176, # 1/1.8"
"Canon Canon PowerShot SD1000" : 5.75, # 1/2.5"
"Canon Canon PowerShot SD100" : 5.27, # 1/2.7"
"Canon Canon PowerShot SD10" : 5.75, # 1/2.5"
"Canon Canon PowerShot SD110" : 5.27, # 1/2.7"
"Canon Canon PowerShot SD200" : 5.76, # 1/2.5"
"Canon Canon PowerShot SD300" : 5.76, # 1/2.5"
"Canon Canon PowerShot SD400" : 5.76, # 1/2.5"
"Canon Canon PowerShot SD450" : 5.76, # 1/2.5"
"Canon Canon PowerShot SD500" : 7.176, # 1/1.8"
"Canon Canon PowerShot SD550" : 7.176, # 1/1.8"
"Canon Canon PowerShot SD600" : 5.76, # 1/2.5"
"Canon Canon PowerShot SD630" : 5.76, # 1/2.5"
"Canon Canon PowerShot SD700 IS" : 5.76, # 1/2.5"
"Canon Canon PowerShot SD750" : 5.75, # 1/2.5"
"Canon Canon PowerShot SD800 IS" : 5.76, # 1/2.5"
"Canon Canon PowerShot SX500 IS" : 6.17, # 1/2.3"
"Canon EOS 300D DIGITAL" : 22.66,
"Canon EOS 1100D" : 22.2,
"Canon EOS DIGITAL REBEL" : 22.66,
"Canon PowerShot A510" : 5.76, # 1/2.5" ???
"Canon PowerShot S30" : 7.176, # 1/1.8"
"CASIO COMPUTER CO.,LTD. EX-S500" : 5.76, # 1/2.5"
"CASIO COMPUTER CO.,LTD. EX-Z1000" : 7.716, # 1/1.8"
"CASIO COMPUTER CO.,LTD EX-Z30" : 5.76, # 1/2.5 "
"CASIO COMPUTER CO.,LTD. EX-Z600" : 5.76, # 1/2.5"
"CASIO COMPUTER CO.,LTD. EX-Z60" : 7.176, # 1/1.8"
"CASIO COMPUTER CO.,LTD EX-Z750" : 7.176, # 1/1.8"
"CASIO COMPUTER CO.,LTD. EX-Z850" : 7.176,
"EASTMAN KODAK COMPANY KODAK CX7330 ZOOM DIGITAL CAMERA" : 5.27, # 1/2.7"
"EASTMAN KODAK COMPANY KODAK CX7530 ZOOM DIGITAL CAMERA" : 5.76, # 1/2.5"
"EASTMAN KODAK COMPANY KODAK DX3900 ZOOM DIGITAL CAMERA" : 7.176, # 1/1.8"
"EASTMAN KODAK COMPANY KODAK DX4900 ZOOM DIGITAL CAMERA" : 7.176, # 1/1.8"
"EASTMAN KODAK COMPANY KODAK DX6340 ZOOM DIGITAL CAMERA" : 5.27, # 1/2.7"
"EASTMAN KODAK COMPANY KODAK DX6490 ZOOM DIGITAL CAMERA" : 5.76, # 1/2.5"
"EASTMAN KODAK COMPANY KODAK DX7630 ZOOM DIGITAL CAMERA" : 7.176, # 1/1.8"
"EASTMAN KODAK COMPANY KODAK Z650 ZOOM DIGITAL CAMERA" : 5.76, # 1/2.5"
"EASTMAN KODAK COMPANY KODAK Z700 ZOOM DIGITAL CAMERA" : 5.76, # 1/2.5"
"EASTMAN KODAK COMPANY KODAK Z740 ZOOM DIGITAL CAMERA" : 5.76, # 1/2.5"
"EASTMAN KODAK COMPANY KODAK Z740 ZOOM DIGITAL CAMERA" : 5.76, # 1/2.5"?
"FUJIFILM FinePix2600Zoom" : 5.27, # 1/2.7"
"FUJIFILM FinePix40i" : 7.600, # 1/1.7"
"FUJIFILM FinePix A310" : 5.27, # 1/2.7"
"FUJIFILM FinePix A330" : 5.27, # 1/2.7"
"FUJIFILM FinePix A600" : 7.600, # 1/1.7"
"FUJIFILM FinePix E500" : 5.76, # 1/2.5"
"FUJIFILM FinePix E510" : 5.76, # 1/2.5"
"FUJIFILM FinePix E550" : 7.600, # 1/1.7"
"FUJIFILM FinePix E900" : 7.78, # 1/1.6"
"FUJIFILM FinePix F10" : 7.600, # 1/1.7"
"FUJIFILM FinePix F30" : 7.600, # 1/1.7"
"FUJIFILM FinePix F450" : 5.76, # 1/2.5"
"FUJIFILM FinePix F601 ZOOM" : 7.600, # 1/1.7"
"FUJIFILM FinePix S3Pro" : 23.0,
"FUJIFILM FinePix S5000" : 5.27, # 1/2.7"
"FUJIFILM FinePix S5200" : 5.76, # 1/2.5"
"FUJIFILM FinePix S5500" : 5.27, # 1/2.7"
"FUJIFILM FinePix S6500fd" : 7.600, # 1/1.7"
"FUJIFILM FinePix S7000" : 7.600, # 1/1.7"
"FUJIFILM FinePix Z2" : 5.76, # 1/2.5"
"Hewlett-Packard hp 635 Digital Camera" : 4.54, # 1/3.2"
"Hewlett-Packard hp PhotoSmart 43x series" : 5.27, # 1/2.7"
"Hewlett-Packard HP PhotoSmart 618 (V1.1)" : 5.27, # 1/2.7"
"Hewlett-Packard HP PhotoSmart C945 (V01.61)" : 7.176, # 1/1.8"
"Hewlett-Packard HP PhotoSmart R707 (V01.00)" : 7.176, # 1/1.8"
"KONICA MILOLTA DYNAX 5D" : 23.5,
"Konica Minolta Camera, Inc. DiMAGE A2" : 8.80, # 2/3"
"KONICA MINOLTA CAMERA, Inc. DiMAGE G400" : 5.76, # 1/2.5"
"Konica Minolta Camera, Inc. DiMAGE Z2" : 5.76, # 1/2.5"
"KONICA MINOLTA DiMAGE A200" : 8.80, # 2/3"
"KONICA MINOLTA DiMAGE X1" : 7.176, # 1/1.8"
"KONICA MINOLTA DYNAX 5D" : 23.5,
"Minolta Co., Ltd. DiMAGE F100" : 7.176, # 1/2.7"
"Minolta Co., Ltd. DiMAGE Xi" : 5.27, # 1/2.7"
"Minolta Co., Ltd. DiMAGE Xt" : 5.27, # 1/2.7"
"Minolta Co., Ltd. DiMAGE Z1" : 5.27, # 1/2.7"
"NIKON COOLPIX L3" : 5.76, # 1/2.5"
"NIKON COOLPIX P2" : 7.176, # 1/1.8"
"NIKON COOLPIX S4" : 5.76, # 1/2.5"
"NIKON COOLPIX S7c" : 5.76, # 1/2.5"
"NIKON CORPORATION NIKON D100" : 23.7,
"NIKON CORPORATION NIKON D1" : 23.7,
"NIKON CORPORATION NIKON D1H" : 23.7,
"NIKON CORPORATION NIKON D200" : 23.6,
"NIKON CORPORATION NIKON D2H" : 23.3,
"NIKON CORPORATION NIKON D2X" : 23.7,
"NIKON CORPORATION NIKON D40" : 23.7,
"NIKON CORPORATION NIKON D50" : 23.7,
"NIKON CORPORATION NIKON D60" : 23.6,
"NIKON CORPORATION NIKON D70" : 23.7,
"NIKON CORPORATION NIKON D70s" : 23.7,
"NIKON CORPORATION NIKON D80" : 23.6,
"NIKON E2500" : 5.27, # 1/2.7"
"NIKON E2500" : 5.27, # 1/2.7"
"NIKON E3100" : 5.27, # 1/2.7"
"NIKON E3200" : 5.27,
"NIKON E3700" : 5.27, # 1/2.7"
"NIKON E4200" : 7.176, # 1/1.8"
"NIKON E4300" : 7.18,
"NIKON E4500" : 7.176, # 1/1.8"
"NIKON E4600" : 5.76, # 1/2.5"
"NIKON E5000" : 8.80, # 2/3"
"NIKON E5200" : 7.176, # 1/1.8"
"NIKON E5400" : 7.176, # 1/1.8"
"NIKON E5600" : 5.76, # 1/2.5"
"NIKON E5700" : 8.80, # 2/3"
"NIKON E5900" : 7.176, # 1/1.8"
"NIKON E7600" : 7.176, # 1/1.8"
"NIKON E775" : 5.27, # 1/2.7"
"NIKON E7900" : 7.176, # 1/1.8"
"NIKON E7900" : 7.176, # 1/1.8"
"NIKON E8800" : 8.80, # 2/3"
"NIKON E990" : 7.176, # 1/1.8"
"NIKON E995" : 7.176, # 1/1.8"
"NIKON S1" : 5.76, # 1/2.5"
"Nokia N80" : 5.27, # 1/2.7"
"Nokia N80" : 5.27, # 1/2.7"
"Nokia N93" : 4.536, # 1/3.1"
"Nokia N95" : 5.7, # 1/2.7"
"OLYMPUS CORPORATION C-5000Z" : 7.176, # 1/1.8"
"OLYMPUS CORPORATION C5060WZ" : 7.176, # 1/1.8"
"OLYMPUS CORPORATION C750UZ" : 5.27, # 1/2.7"
"OLYMPUS CORPORATION C765UZ" : 5.76, # 1//2.5"
"OLYMPUS CORPORATION C8080WZ" : 8.80, # 2/3"
"OLYMPUS CORPORATION X250,D560Z,C350Z" : 5.76, # 1/2.5"
"OLYMPUS CORPORATION X-3,C-60Z" : 7.176, # 1.8"
"OLYMPUS CORPORATION X400,D580Z,C460Z" : 5.27, # 1/2.7"
"OLYMPUS IMAGING CORP. E-500" : 17.3, # 4/3?
"OLYMPUS IMAGING CORP. FE115,X715" : 5.76, # 1/2.5"
"OLYMPUS IMAGING CORP. SP310" : 7.176, # 1/1.8"
"OLYMPUS IMAGING CORP. SP510UZ" : 5.75, # 1/2.5"
"OLYMPUS IMAGING CORP. SP550UZ" : 5.76, # 1/2.5"
"OLYMPUS IMAGING CORP. uD600,S600" : 5.75, # 1/2.5"
"OLYMPUS_IMAGING_CORP. X450,D535Z,C370Z" : 5.27, # 1/2.7"
"OLYMPUS IMAGING CORP. X550,D545Z,C480Z" : 5.76, # 1/2.5"
"OLYMPUS OPTICAL CO.,LTD C2040Z" : 6.40, # 1/2"
"OLYMPUS OPTICAL CO.,LTD C211Z" : 5.27, # 1/2.7"
"OLYMPUS OPTICAL CO.,LTD C2Z,D520Z,C220Z" : 4.54, # 1/3.2"
"OLYMPUS OPTICAL CO.,LTD C3000Z" : 7.176, # 1/1.8"
"OLYMPUS OPTICAL CO.,LTD C300Z,D550Z" : 5.4,
"OLYMPUS OPTICAL CO.,LTD C4100Z,C4000Z" : 7.176, # 1/1.8"
"OLYMPUS OPTICAL CO.,LTD C750UZ" : 5.27, # 1/2.7"
"OLYMPUS OPTICAL CO.,LTD X-2,C-50Z" : 7.176, # 1/1.8"
"OLYMPUS SP550UZ" : 5.76, # 1/2.5"
"OLYMPUS X100,D540Z,C310Z" : 5.27, # 1/2.7"
"Panasonic DMC-FX01" : 5.76, # 1/2.5"
"Panasonic DMC-FX07" : 5.75, # 1/2.5"
"Panasonic DMC-FX9" : 5.76, # 1/2.5"
"Panasonic DMC-FZ20" : 5.760, # 1/2.5"
"Panasonic DMC-FZ2" : 4.54, # 1/3.2"
"Panasonic DMC-FZ30" : 7.176, # 1/1.8"
"Panasonic DMC-FZ50" : 7.176, # 1/1.8"
"Panasonic DMC-FZ5" : 5.760, # 1/2.5"
"Panasonic DMC-FZ7" : 5.76, # 1/2.5"
"Panasonic DMC-LC1" : 8.80, # 2/3"
"Panasonic DMC-LC33" : 5.760, # 1/2.5"
"Panasonic DMC-LX1" : 8.50, # 1/6.5"
"Panasonic DMC-LZ2" : 5.76, # 1/2.5"
"Panasonic DMC-TZ1" : 5.75, # 1/2.5"
"Panasonic DMC-TZ3" : 5.68, # 1/2.35"
"Panasonic DMC-TZ10" : 6.23,
"Panasonic HC-X900" : 3.20,
"PENTAX Corporation PENTAX *ist DL" : 23.5,
"PENTAX Corporation PENTAX *ist DS2" : 23.5,
"PENTAX Corporation PENTAX *ist DS" : 23.5,
"PENTAX Corporation PENTAX K100D" : 23.5,
"PENTAX Corporation PENTAX Optio 450" : 7.176, # 1/1.8"
"PENTAX Corporation PENTAX Optio 550" : 7.176, # 1/1.8"
"PENTAX Corporation PENTAX Optio E10" : 5.76, # 1/2.5"
"PENTAX Corporation PENTAX Optio S40" : 5.76, # 1/2.5"
"PENTAX Corporation PENTAX Optio S4" : 5.76, # 1/2.5"
"PENTAX Corporation PENTAX Optio S50" : 5.76, # 1/2.5"
"PENTAX Corporation PENTAX Optio S5i" : 5.76, # 1/2.5"
"PENTAX Corporation PENTAX Optio S5z" : 5.76, # 1/2.5"
"PENTAX Corporation PENTAX Optio SV" : 5.76, # 1/2.5"
"PENTAX Corporation PENTAX Optio WP" : 5.75, # 1/2.5"
"RICOH CaplioG3 modelM" : 5.27, # 1/2.7"
"RICOH Caplio GX" : 7.176, # 1/1.8"
"RICOH Caplio R30" : 5.75, # 1/2.5"
"Samsung Digimax 301" : 5.27, # 1/2.7"
"Samsung Techwin <Digimax i5, Samsung #1>" : 5.76, # 1/2.5"
"SAMSUNG TECHWIN Pro 815" : 8.80, # 2/3"
"SONY DSC-F828" : 8.80, # 2/3"
"SONY DSC-N12" : 7.176, # 1/1.8"
"SONY DSC-P100" : 7.176, # 1/1.8"
"SONY DSC-P10" : 7.176, # 1/1.8"
"SONY DSC-P12" : 7.176, # 1/1.8"
"SONY DSC-P150" : 7.176, # 1/1.8"
"SONY DSC-P200" : 7.176, # 1/1.8");
"SONY DSC-P52" : 5.27, # 1/2.7"
"SONY DSC-P72" : 5.27, # 1/2.7"
"SONY DSC-P73" : 5.27,
"SONY DSC-P8" : 5.27, # 1/2.7"
"SONY DSC-R1" : 21.5,
"SONY DSC-S40" : 5.27, # 1/2.7"
"SONY DSC-S600" : 5.760, # 1/2.5"
"SONY DSC-T9" : 7.18,
"SONY DSC-V1" : 7.176, # 1/1.8"
"SONY DSC-W1" : 7.176, # 1/1.8"
"SONY DSC-W30" : 5.760, # 1/2.5"
"SONY DSC-W50" : 5.75, # 1/2.5"
"SONY DSC-W5" : 7.176, # 1/1.8"
"SONY DSC-W7" : 7.176, # 1/1.8"
"SONY DSC-W80" : 5.75, # 1/2.5"
}
def get_images():
"""Searches the present directory for JPEG images."""
images = glob.glob("./*.[jJ][pP][gG]")
if len(images) == 0:
error_str = ("Error: No images supplied! "
"No JPEG files found in directory!")
raise Exception(error_str)
return images
def extract_focal_length(images=[], scale=1.0):
"""Extracts (pixel) focal length from images where available.
The functions returns a dictionary of image, focal length pairs.
If no focal length is extracted for an image, the second pair is None.
"""
if len(images) == 0:
error_str = ("Error: No images supplied! "
"No JPEG files found in directory!")
raise Exception(error_str)
ret = []
for image in images:
print "[Extracting EXIF tags from image {0}]".format(image)
tags = {}
with open(image, 'rb') as fp:
img = Image.open(fp)
if hasattr(img, '_getexif'):
exifinfo = img._getexif()
if exifinfo is not None:
for tag, value in exifinfo.items():
tags[ExifTags.TAGS.get(tag, tag)] = value
# Extract Focal Length
focalN, focalD = tags.get('FocalLength', (0, 1))
focal_length = float(focalN)/float(focalD)
# Extract Resolution
img_width = tags.get('ExifImageWidth', 0)
img_height = tags.get('ExifImageHeight', 0)
if img_width < img_height:
img_width,img_height = img_height,img_width
# Extract CCD Width (Prefer Lookup Table)
ccd_width = 1.0
make_model = tags.get('Make', '') + ' ' + tags.get('Model', '')
if CCD_WIDTHS.has_key(make_model.strip()):
ccd_width = CCD_WIDTHS[make_model.strip()]
else:
fplaneN, fplaneD = tags.get('FocalPlaneXResolution', (0, 1))
if fplaneN != 0:
ccd_width = 25.4*float(img_width)*float(fplaneD)/float(fplaneN)
print " [Using CCD width from EXIF tags]"
else:
ccd_width = 0
print " [EXIF focal length = {0}mm]".format(focal_length)
print " [EXIF CCD width = {0}mm]".format(ccd_width)
print " [EXIF resolution = {0} x {1}]".format(img_width, img_height)
if ccd_width == 0:
print "ERROR: No CCD width available for camera {0}]".format(make_model)
exit(1)
if (img_width==0 or img_height==0 or focalN==0 or ccd_width==0):
print "ERROR: Could not determine pixel focal length for image", image
exit(1)
# Compute Focal Length in Pixels
result = img_width * (focal_length / ccd_width) * scale
ret.append((image, result))
print " [Focal length (pixels) = {0}]".format(result)
return ret
def sift_image(image):
"""Extracts SIFT features from a single image. See sift_images."""
pgm_filename = image.rsplit('.', 1)[0] + ".pgm"
key_filename = image.rsplit('.', 1)[0] + ".key"
# Convert image to PGM format (grayscale)
with open(image, 'rb') as fp_img:
image = Image.open(fp_img)
image.convert('L').save(pgm_filename)
# Extract SIFT data
with open(pgm_filename, 'rb') as fp_in:
with open(key_filename, 'wb') as fp_out:
subprocess.call(BIN_SIFT, stdin=fp_in, stdout=fp_out)
# Remove pgm file
os.remove(pgm_filename)
# GZIP compress key file (and remove)
# with open(key_filename, 'rb') as fp_in:
# with gzip.open(key_filename + ".gz", 'wb') as fp_out:
# fp_out.writelines(fp_in)
# os.remove(key_filename)
return key_filename
def sift_images(images):
"""Extracts SIFT features from images in 'images'.
'images' should be a list of file names. The function creates a
SIFT compressed key file for each image in 'images' with a '.key.gz'
extension. A list of the uncompressed key file names is returned.
"""
pool = ThreadPool()
return pool.map(sift_image, images)
def match_image(image):
# Add lib folder to LD_LIBRARY_PATH
env = dict(os.environ)
if env.has_key('LD_LIBRARY_PATH'):
env['LD_LIBRARY_PATH'] = env['LD_LIBRARY_PATH'] + ':' + LIB_PATH
else:
env['LD_LIBRARY_PATH'] = LIB_PATH
matches_file = 'match.' + str(image[0]) + '.txt'
subprocess.call([BIN_MATCHKEYS_PART, image[1], str(image[0]), matches_file], env=env)
return matches_file
def par_match_images(key_file, image_count, matches_file):
"Executes KeyMatchPart to match key points in each image."""
images = []
for i in range(image_count-1, 0, -1):
images.append((i, key_file))
pool = ThreadPool()
match_filenames = pool.map(match_image, images)
with open(matches_file, 'w') as fout:
for line in fileinput.input(match_filenames):
fout.write(line)
def match_images(key_files, matches_file):
keys_file = ""
with tempfile.NamedTemporaryFile(delete=False) as fp:
for key in key_files:
fp.write(key + '\n')
keys_file = fp.name
par_match_images(keys_file, len(key_files), matches_file)
os.remove(keys_file)
def bundler(image_list=None, options_file=None, shell=False, *args, **kwargs):
"""Run bundler, parsing arguments from args and kwargs through.
For Bundler usage run bundler("--help").
image_list : File containing list of images.
options_file : Specify an options file for bundler (optional).
shell : Enable full shell support for parsing args (default: False).
"""
def kwargs_bool(b, r):
if b: return r
else: return []
kwargs_dict = {
'match_table' : lambda k,v: ['--'+k,v],
'output' : lambda k,v: ['--'+k,v],
'output_all' : lambda k,v: ['--'+k,v],
'output_dir' : lambda k,v: ['--'+k,v],
'variable_focal_length' : lambda k,v: kwargs_bool(v, ['--'+k]),
'use_focal_estimate' : lambda k,v: kwargs_bool(v, ['--'+k]),
'constrain_focal' : lambda k,v: kwargs_bool(v, ['--'+k]),
'constrain_focal_weight' : lambda k,v: ['--'+k,str(v)],
'estimate_distortion' : lambda k,v: kwargs_bool(v, ['--'+k]),
'projection_estimation_threshold' : lambda k,v: ['--'+k,str(v)],
'construct_max_connectivity' : lambda k,v: kwargs_bool(v, ['--'+k]),
'use_ceres' : lambda k,v: kwargs_bool(v, ['--'+k]),
'run_bundle' : lambda k,v: kwargs_bool(v, ['--'+k]),
}
str_args = [a for a in args if type(a) == str]
for k,v in kwargs.items():
if not kwargs_dict.has_key(k): continue
str_args.extend(kwargs_dict[k](k,v))
if len(str_args) != 0 and options_file is not None:
with open(options_file, 'wb') as fp:
for o in str_args:
if o.startswith('--'): fp.write('\n')
else: fp.write(' ')
fp.write(o)
image_list_file = ""
if type(image_list) == dict:
with tempfile.NamedTemporaryFile(delete=False) as fp:
for image,value in image_list.items():
if value == None: fp.write(image + '\n')
else: fp.write(' '.join([image, '0', str(value), '\n']))
image_list_file = fp.name
elif type(image_list) == str:
image_list_file = image_list
else:
raise Exception("Error: Not a valid list or filename for image_list!")
# Add lib folder to LD_LIBRARY_PATH
env = dict(os.environ)
if env.has_key('LD_LIBRARY_PATH'):
env['LD_LIBRARY_PATH'] = env['LD_LIBRARY_PATH'] + ':' + LIB_PATH
else:
env['LD_LIBRARY_PATH'] = LIB_PATH
try: os.mkdir("bundle")
except: pass
with open(os.path.join("bundle", "out"), 'wb') as fp_out:
if options_file is not None:
subprocess.call([BIN_BUNDLER, image_list_file, "--options_file",
options_file], shell=shell, env=env, stdout=fp_out)
else:
subprocess.call([BIN_BUNDLER, image_list_file] + str_args,
shell=shell, env=env, stdout=fp_out)
if type(image_list) == dict:
os.remove(image_list_file)
def save_image_list(image_list=None, filename='list.txt'):
with open(filename, 'wb') as fp:
for image in image_list:
fp.write(' '.join([image[0], '0', str(image[1]), '\n']))
def create_dense_pointcloud(image_names, image_list='list.txt', bundle_out="bundle.out"):
# Start by running bundle2pmvs. This will create the pmvs directory, and
# generate the undistortion matrices for each image.
# Add lib folder to LD_LIBRARY_PATH
env = dict(os.environ)
if env.has_key('LD_LIBRARY_PATH'):
env['LD_LIBRARY_PATH'] = env['LD_LIBRARY_PATH'] + ':' + LIB_PATH
else:
env['LD_LIBRARY_PATH'] = LIB_PATH
bundle_output = os.path.join('bundle', 'bundle.out')
subprocess.call([BIN_BUNDLE2PMVS, image_list, bundle_output], env=env)
# Next run the image undistort.
subprocess.call([BIN_RADIAL_UNDISTORT, image_list, bundle_output, 'pmvs'], env=env)
# Create the necessay directories
try: os.mkdir(os.path.join('pmvs', 'txt'))
except: pass
try: os.mkdir(os.path.join('pmvs', 'visualize'))
except: pass
try: os.mkdir(os.path.join('pmvs', 'models'))
except: pass
# Move some temp files to their final location. This is needed by CMVS
count = 0
for image in image_names:
source = image.rsplit('.', 1)[0] + '.rd.jpg'
target = str(count).zfill(8) + '.jpg'
if os.path.exists(os.path.join('pmvs', source)):
shutil.move(os.path.join('pmvs', source), os.path.join('pmvs', 'visualize', target))
source = str(count).zfill(8) + '.txt'
shutil.move(os.path.join('pmvs', source), os.path.join('pmvs', 'txt', source))
count += 1
# Run CMVS to generate the required centers.ply and vis.dat
# FIXME: hardcoded CPU count!
subprocess.call([BIN_CMVS, os.path.join('.', 'pmvs', ''), '100', '16'], env=env)
# Run genOption to generate the required PMVS2 config.
cores = multiprocessing.cpu_count()
# The first option is a hardcoded 'quality' level. 1 is standard, 0 produces hi-res pointclouds.
# The other options are the default setting, except for the last one, which is the number of
# threads to use in PMVS2.
subprocess.call([BIN_GEN_OPTION, os.path.join('.', 'pmvs', ''), '0', '2', '0.7', '7', '3', str(cores)], env=env)
# Run genOption to generate the required PMVS2 config.
subprocess.call([BIN_PMVS2, os.path.join('.', 'pmvs', ''), 'option-0000'], env=env)
def run_bundler():
"""Prepare images and run bundler with default options."""
# Prepare the list of executables we need.
global BIN_SIFT, BIN_BUNDLER, BIN_MATCHKEYS_FULL, BIN_MATCHKEYS_PART, BIN_BUNDLE2PMVS, BIN_RADIAL_UNDISTORT, BIN_CMVS, BIN_GEN_OPTION, BIN_PMVS2, BIN_PATH
start = time.time()
if sys.platform == 'win32' or sys.platform == 'cygwin':
BIN_SIFT = os.path.join(BIN_PATH, "siftWin32.exe")
BIN_BUNDLER = os.path.join(BIN_PATH, "Bundler.exe")
BIN_MATCHKEYS_FULL = os.path.join(BIN_PATH, "KeyMatchFull.exe")
BIN_MATCHKEYS_PART = os.path.join(BIN_PATH, "KeyMatchPart.exe")
BIN_BUNDLE2PMVS = os.path.join(BIN_PATH, "Bundle2PMVS.exe")
BIN_RADIAL_UNDISTORT = os.path.join(BIN_PATH, "RadialUndistort.exe")
BIN_CMVS = os.path.join(BIN_PATH, "cmvs.exe")
BIN_GEN_OPTION = os.path.join(BIN_PATH, "genOption.exe")
BIN_PMVS2 = os.path.join(BIN_PATH, "pmvs2.exe")
else:
BIN_SIFT = os.path.join(BIN_PATH, "sift")
BIN_BUNDLER = os.path.join(BIN_PATH, "bundler")
BIN_MATCHKEYS_FULL = os.path.join(BIN_PATH, "KeyMatchFull")
BIN_MATCHKEYS_PART = os.path.join(BIN_PATH, "KeyMatchPart")
BIN_BUNDLE2PMVS = os.path.join(BIN_PATH, "Bundle2PMVS")
BIN_RADIAL_UNDISTORT = os.path.join(BIN_PATH, "RadialUndistort")
BIN_CMVS = os.path.join(BIN_PATH, "cmvs")
BIN_GEN_OPTION = os.path.join(BIN_PATH, "genOption")
BIN_PMVS2 = os.path.join(BIN_PATH, "pmvs2")
# Create list of images
print "[- Creating list of images -]"
images = get_images()
time1 = time.time()
if len(images) < 10:
print "ERROR: not enough images (have %d, need at least 10)" % len(images)
exit(1)
else:
print "[- Retrieved %d images in %.1f seconds -]" % (len(images), time1-start)
# Extract focal length
print "[- Extracting EXIF tags from images -]"
images_focal = extract_focal_length(images)
time2 = time.time()
print "[- Retrieved EXIF tags of %d images in %.1f seconds -]" % (len(images_focal), time2-time1)
if not len(images_focal) == len(images):
print "ERROR: some images are missing necessasy EXIF information!"
exit(1)
# Save the image list, since we need it later on.
save_image_list(images_focal)
# Extract SIFT features from images
print "[- Extracting keypoints -]"
key_files = sift_images(images)
time3 = time.time()
print "[- Extracting keypoints took %.1f seconds -]" % (time3-time2)
# Match images
print "[- Matching keypoints (this can take a while) -]"
matches_file = "matches.init.txt"
match_images(key_files, matches_file)
time4 = time.time()
print "[- Matching keypoints took %.1f seconds -]" % (time4-time3)
# Run Bundler
print "[- Running Bundler (sparse pointcloud generation) -]"
bundler(image_list='list.txt',
options_file="options.txt",
match_table=matches_file,
output="bundle.out",
output_all="bundle_",
output_dir="bundle",
variable_focal_length=True,
use_focal_estimate=True,
constrain_focal=True,
constrain_focal_weight=0.0001,
estimate_distortion=True,
projection_estimation_threshold=1.1,
construct_max_connectivity=True,
use_ceres=True,
run_bundle=True)
time5 = time.time()
print "[- Bundler took %.1f seconds-]" % (time5-time4)
print "[- Creating CMVS/PMVS configuration and running PMVS2 -]"
create_dense_pointcloud(images, image_list='list.txt', bundle_out="bundle.out")
end = time.time()
print "[- Creating dense point cloud took %.1f seconds -]" % (end-time5)
print "[- Done in %.1f seconds -]" % (end-start)
if __name__ == '__main__':
run_bundler()
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