del_canvas_cpu/
colmap.rs

1use byteorder::{LittleEndian, ReadBytesExt};
2use num_traits::AsPrimitive;
3use std::io::BufReader;
4
5pub enum CameraModel {
6    PINHOLE([f64; 4]),
7}
8
9pub struct Camera {
10    pub camera_id: i32,
11    pub width: u64,
12    pub height: u64,
13    pub model: CameraModel,
14}
15
16pub fn read_cameras<PATH: AsRef<std::path::Path>>(path: PATH) -> anyhow::Result<Vec<Camera>> {
17    // read intrinsic
18    let file = std::fs::File::open(path).unwrap();
19    let mut reader = std::io::BufReader::new(file);
20    let num_cam = reader.read_u64::<LittleEndian>()?;
21    dbg!(num_cam);
22    let mut cameras: Vec<Camera> = vec![];
23    for _ in 0..num_cam {
24        let camera_id = reader.read_i32::<LittleEndian>()?;
25        let model_id = reader.read_u32::<LittleEndian>()?;
26        let width = reader.read_u64::<LittleEndian>()?;
27        let height = reader.read_u64::<LittleEndian>()?;
28        dbg!(camera_id, model_id, width, height);
29        let model = match model_id {
30            1 => {
31                let mut v = [0f64; 4];
32                for i_param in 0..4 {
33                    v[i_param] = reader.read_f64::<LittleEndian>()?;
34                }
35                CameraModel::PINHOLE(v)
36            }
37            _ => {
38                panic!()
39            }
40        };
41        cameras.push(Camera {
42            camera_id,
43            height,
44            width,
45            model,
46        });
47    }
48    Ok(cameras)
49}
50
51pub fn parse_string(reader: &mut BufReader<std::fs::File>) -> anyhow::Result<String> {
52    let mut aa: Vec<u8> = vec![];
53    loop {
54        let a0 = reader.read_u8()?;
55        aa.push(a0);
56        if a0 == 0x00 {
57            break;
58        }
59    }
60    Ok(String::from_utf8(aa).unwrap())
61}
62
63pub struct Image {
64    pub image_id: i32,
65    pub qvec: [f64; 4],
66    pub tvec: [f64; 3],
67    pub camera_id: i32,
68    pub name: String,
69    pub vtx2xy: Vec<f64>,
70    pub vtx2id: Vec<i64>,
71}
72
73pub fn read_images<PATH: AsRef<std::path::Path>>(path: PATH) -> anyhow::Result<Vec<Image>> {
74    // read intrinsic
75    let file = std::fs::File::open(path).unwrap();
76    let mut reader = std::io::BufReader::new(file);
77    let num_images = reader.read_u64::<LittleEndian>()?;
78    let mut images = Vec::<Image>::with_capacity(num_images.as_());
79    for _ in 0..num_images {
80        let image_id = reader.read_i32::<LittleEndian>()?;
81        let qvec = [
82            reader.read_f64::<LittleEndian>()?,
83            reader.read_f64::<LittleEndian>()?,
84            reader.read_f64::<LittleEndian>()?,
85            reader.read_f64::<LittleEndian>()?,
86        ];
87        let tvec = [
88            reader.read_f64::<LittleEndian>()?,
89            reader.read_f64::<LittleEndian>()?,
90            reader.read_f64::<LittleEndian>()?,
91        ];
92        let camera_id = reader.read_i32::<LittleEndian>()?;
93        let name = parse_string(&mut reader)?;
94        let num_points = reader.read_u64::<LittleEndian>()?;
95        let mut vtx2xy: Vec<f64> = vec![];
96        let mut vtx2id: Vec<i64> = vec![];
97        for _i_points in 0..num_points {
98            let x = reader.read_f64::<LittleEndian>()?;
99            let y = reader.read_f64::<LittleEndian>()?;
100            let id_s = reader.read_i64::<LittleEndian>()?;
101            vtx2xy.push(x);
102            vtx2xy.push(y);
103            vtx2id.push(id_s);
104        }
105        images.push(Image {
106            image_id,
107            qvec,
108            tvec,
109            camera_id,
110            name,
111            vtx2xy,
112            vtx2id,
113        });
114    }
115    Ok(images)
116}
117
118pub struct Point3D {
119    pub id: u64,
120    pub xyz: [f64; 3],
121    pub rgb: [u8; 3],
122    pub err: f64,
123    pub img: Vec<(i32, i32)>,
124}
125
126pub fn read_points3d<PATH: AsRef<std::path::Path>>(path: PATH) -> anyhow::Result<Vec<Point3D>> {
127    // read intrinsic
128    let file = std::fs::File::open(path).unwrap();
129    let mut reader = std::io::BufReader::new(file);
130    let num_points = reader.read_u64::<LittleEndian>()?;
131    let mut points = Vec::<Point3D>::with_capacity(num_points.as_());
132    // dbg!(num_points);
133    for _i_point in 0..num_points {
134        let point3d_id = reader.read_u64::<LittleEndian>()?;
135        let x = reader.read_f64::<LittleEndian>()?;
136        let y = reader.read_f64::<LittleEndian>()?;
137        let z = reader.read_f64::<LittleEndian>()?;
138        let r = reader.read_u8()?;
139        let g = reader.read_u8()?;
140        let b = reader.read_u8()?;
141        let error = reader.read_f64::<LittleEndian>()?;
142        let track_length = reader.read_u64::<LittleEndian>()?;
143        // dbg!(point3d_id, x, y, z, error);
144        // dbg!(track_length);
145        let mut img = vec![(0i32, 0i32); 0];
146        for _i_track in 0..track_length {
147            let image_id = reader.read_i32::<LittleEndian>()?;
148            let point2d_idx = reader.read_i32::<LittleEndian>()?;
149            // dbg!(image_id, point2d_idx);
150            img.push((image_id, point2d_idx));
151        }
152        points.push(Point3D {
153            id: point3d_id,
154            xyz: [x, y, z],
155            rgb: [r, g, b],
156            err: error,
157            img,
158        })
159    }
160    Ok(points)
161}
del_canvas_cpu/colmap.rs

del_canvas_cpu/
colmap.rs
