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import subprocess
import os
import argparse
import glob
def get_parser():
parser = argparse.ArgumentParser()
parser.add_argument(
"--mapfree_dir",
default="mapfree/train/",
)
parser.add_argument(
"--colmap_dir",
default="mapfree/colmap",
)
parser.add_argument(
"--output_dir",
default="processed_mapfree",
)
return parser
def run_patch_match_stereo(root_colmap_dir, root_img_dir):
scene_names = sorted(os.listdir(root_colmap_dir))
sub_dir_names = ["seq0", "seq1"]
for scene_name in scene_names:
scene_dir = os.path.join(root_colmap_dir, scene_name)
img_dir = os.path.join(root_img_dir, scene_name)
for i, sub in enumerate(sub_dir_names):
sub_dir = os.path.join(scene_dir, sub)
out_dir = os.path.join(scene_dir, f"dense{i}")
if not os.path.exists(sub_dir):
continue
if os.path.exists(out_dir) and os.path.exists(
os.path.join(out_dir, f"stereo/depth_maps/{sub}")
):
if len(
glob.glob(
os.path.join(out_dir, f"stereo/depth_maps/{sub}/*geometric.bin")
)
) == len(glob.glob(os.path.join(img_dir, sub, "*.jpg"))):
print(f"depth maps already computed, skip {sub_dir}")
continue
print(sub_dir)
cmd = f"colmap image_undistorter \
--image_path {img_dir} \
--input_path {sub_dir} \
--output_path {out_dir} \
--output_type COLMAP;"
subprocess.call(cmd, shell=True)
cmd = f"rm -rf {out_dir}/images/seq{i}; rm -rf {out_dir}/sparse;"
cmd += f"cp -r {sub_dir} {out_dir}/sparse;"
cmd += f"cp -r {img_dir}/{sub} {out_dir}/images;"
subprocess.call(cmd, shell=True)
# we comment this because we have released the mvs results, but feel free to re-run the mvs
# cmd = f"colmap patch_match_stereo \
# --workspace_path {out_dir} \
# --workspace_format COLMAP \
# --PatchMatchStereo.cache_size 512 \
# --PatchMatchStereo.geom_consistency true"
# subprocess.call(cmd, shell=True)
if __name__ == "__main__":
parser = get_parser()
args = parser.parse_args()
root_colmap_dir = args.colmap_dir
root_img_dir = args.mapfree_dir
# run patch match stereo
run_patch_match_stereo(root_colmap_dir, root_img_dir)
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