Structs for interacting with reconstruction data from different SFM programs
- COLMAP
- Cameras
- Points
- Images
- Depthmap
- Normalmap
- OpenSFM
- reconstruction.json
- Meshroom
- cameras.sfm
Interact with COLMAPS's points3D.bin file output under the sparse reconstruction data.
package example
import (
"fmt"
"github.com/EliCDavis/sfm/colmap"
)
func main() {
points, err := colmap.LoadPoints3DBinary("ColmapProject/sparse/0/points3D.bin")
if err != nil {
panic(err)
}
fmt.Printf("File contains %d points", len(points))
}Interact with COLMAPS's cameras.bin file output under the sparse reconstruction data.
package example
import (
"fmt"
"github.com/EliCDavis/sfm/colmap"
)
func main() {
cameras, err := colmap.LoadCamerasBinary("ColmapProject/sparse/0/cameras.bin")
if err != nil {
panic(err)
}
fmt.Printf("File contains %d cameras", len(cameras))
}Interact with COLMAPS's images.bin file output under the sparse reconstruction data.
package example
import (
"fmt"
"github.com/EliCDavis/sfm/colmap"
)
func main() {
images, err := colmap.LoadImagesBinary("ColmapProject/sparse/0/images.bin")
if err != nil {
panic(err)
}
fmt.Printf("File contains %d images", len(images))
}Create a Image representing the depthmap data
package main
import (
"image"
"image/color"
"image/png"
"os"
"testing"
"github.com/EliCDavis/sfm/colmap"
)
func check(err error) {
if err != nil {
panic(err)
}
}
func main() {
depthmap, err := colmap.LoadDepthmap("depthmap.bin")
check(err)
maxV := depthmap.MaxValue()
img := image.NewRGBA(image.Rect(0, 0, depthmap.Width, depthmap.Height))
for x := 0; x < depthmap.Width; x++ {
for y := 0; y < depthmap.Height; y++ {
v := byte(min((depthmap.Value(x, y)/maxV), 1) * 255)
img.Set(x, y, color.RGBA{
R: v,
G: v,
B: v,
A: 255,
})
}
}
f, err := os.Create("depth.png")
check(err)
defer f.Close()
check(png.Encode(f, img))
}Create a Image representing the normalmap data
package main
import (
"bufio"
"image"
"image/color"
"image/png"
"os"
"testing"
"github.com/EliCDavis/sfm/colmap"
)
func check(err error) {
if err != nil {
panic(err)
}
}
func main() {
normalMap, err := colmap.LoadNormalmap("normal.bin")
check(err)
img := image.NewRGBA(image.Rect(0, 0, normalMap.Width, normalMap.Height))
for x := 0; x < normalMap.Width; x++ {
for y := 0; y < normalMap.Height; y++ {
v := normalMap.Value(x, y)
// https://github.com/colmap/colmap/blob/e924f0f825c6033a0cf2b89fa79c585236d4bf3a/src/colmap/mvs/normal_map.cc#L112
img.Set(x, y, color.RGBA{
R: uint8((v.X() + 1) * 0.5 * 255),
G: uint8((v.Y() + 1) * 0.5 * 255),
B: uint8(v.Z() * -255.),
A: 255,
})
}
}
f, err := os.Create("normals.png")
check(err)
defer f.Close()
writer := bufio.NewWriter(f)
check(png.Encode(writer, img))
check(writer.Flush())
}Interact with Meshroom's cameras.sfm file output from the StructureFromMotion step.
package example
import (
"fmt"
"github.com/EliCDavis/sfm/meshroom"
)
func main() {
cameras, err := meshroom.LoadCameras("MeshroomProject/MeshroomCache/StructureFromMotion/abc123/cameras.sfm")
if err != nil {
panic(err)
}
fmt.Printf("File contains %d Poses", len(cameras.Poses))
}Interact with OpenSFM's reconstruction.json file output from the reconstruct step.
package example
import (
"fmt"
"github.com/EliCDavis/sfm/opensfm"
)
func main() {
reconstructions, err := opensfm.LoadReconstruction("MyOpenSFMProject/reconstruction.json")
if err != nil {
panic(err)
}
fmt.Printf("File contains %d reconstructions", len(reconstructions))
}