yolo_scan_algorithm/lofi_colmap.py at main · Profrog/yolo_scan_algorithm · GitHub

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import os
import time
import numpy as np
import open3d as o3d
import shutil


def colmap0():
	start0 = time.time()


	dir00 = 'dense'
	if os.path.exists(dir00):
	 shutil.rmtree(dir00)

	os.makedirs(dir00)

	dir00 = 'sparse'
	if os.path.exists(dir00):
	 shutil.rmtree(dir00)

	os.makedirs(dir00)

	dir00 = 'result'
	if os.path.exists(dir00):
	 shutil.rmtree(dir00)

	os.makedirs(dir00)


	dir00 = 'database.db'

	if os.path.isfile(dir00):
	 os.remove(dir00)

	time.sleep(0.5)

	start0 = time.time()
	str0 = "/home/mingyu/lofi"

	str1 = "colmap feature_extractor \
   --database_path " + str0 + "/database.db \
   --image_path " + str0 + "/images"
	os.system(str1)

	str1 = "colmap exhaustive_matcher \
   --database_path " + str0 + "/database.db"
	os.system(str1)

	str1 = "colmap mapper \
    --database_path " + str0 + "/database.db \
    --image_path " + str0 + "/images \
    --output_path " + str0 + "/sparse"
	os.system(str1)

	str1 = "colmap image_undistorter \
    --image_path " + str0 + "/images \
    --input_path " + str0 + "/sparse/0 \
    --output_path " + str0 + "/dense \
    --output_type COLMAP \
    --max_image_size 200"
	os.system(str1)


	str1 = "colmap patch_match_stereo \
    --workspace_path " + str0 + "/dense \
    --workspace_format COLMAP \
    --PatchMatchStereo.geom_consistency true"
	os.system(str1)


	str1 = "colmap stereo_fusion \
    --workspace_path " + str0 + "/dense \
    --workspace_format COLMAP \
    --input_type geometric \
    --output_path " + str0 + "/result/fused0.ply"
	os.system(str1)

	print("time used : + " +  str(time.time() - start0))


	# Read .ply file
	input_file = "result/fused0.ply"
	pcd = o3d.io.read_point_cloud(input_file) # Read the point cloud

	# Visualize the point cloud within open3d
	o3d.visualization.draw_geometries([pcd])

	# Convert open3d format to numpy array
	# Here, you have the point cloud in numpy format.
	point_cloud_in_numpy = np.asarray(pcd.points)


colmap0()