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Automatic alignment with gravity using Colmap #263

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Automatic alignment with gravity using Colmap #263

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15 changes: 15 additions & 0 deletions convert.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
parser = ArgumentParser("Colmap converter")
parser.add_argument("--no_gpu", action='store_true')
parser.add_argument("--skip_matching", action='store_true')
parser.add_argument("--skip_alignment", action='store_true')
parser.add_argument("--source_path", "-s", required=True, type=str)
parser.add_argument("--camera", default="OPENCV", type=str)
parser.add_argument("--colmap_executable", default="", type=str)
Expand Down Expand Up @@ -65,6 +66,20 @@
logging.error(f"Mapper failed with code {exit_code}. Exiting.")
exit(exit_code)

if not args.skip_alignment:
### Model alignment
# Aligns the scene so that +Z axis is up.
model_alignment_cmd = (colmap_command + " model_aligner \
--input_path " + args.source_path + "/distorted/sparse/0 \
--database_path " + args.source_path + "/distorted/database.db \
--alignment_max_error " + "0.1" "\
--alignment_type " + "plane" "\
--output_path " + args.source_path + "/distorted/sparse/0")
exit_code = os.system(model_alignment_cmd)
if exit_code != 0:
logging.error(f"Model aligner failed with code {exit_code}. Exiting.")
exit(exit_code)

### Image undistortion
## We need to undistort our images into ideal pinhole intrinsics.
img_undist_cmd = (colmap_command + " image_undistorter \
Expand Down