Merge pull request #5 from ohayoyogi/feature/refine_export

Support binary format

LICENSE

@@ -1,4 +1,4 @@
-MIT License
+# MIT License
 
 Copyright (c) 2024 ohayoyogi
 
@@ -19,3 +19,36 @@ AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 SOFTWARE.
+
+# New BSD License
+
+This project includes software developed by ETH Zurich and UNC Chapel Hill under the New BSD License.
+
+Copyright (c) 2023, ETH Zurich and UNC Chapel Hill.
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright
+        notice, this list of conditions and the following disclaimer.
+
+    * Redistributions in binary form must reproduce the above copyright
+        notice, this list of conditions and the following disclaimer in the
+        documentation and/or other materials provided with the distribution.
+
+    * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
+        its contributors may be used to endorse or promote products derived
+        from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
+LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGE.

blender-exporter-colmap/__init__.py

@@ -0,0 +1,154 @@
+bl_info = {
+    "name": "Scene exporter for colmap",
+    "description": "Generates a dataset for colmap by exporting blender camera poses and rendering scene.",
+    "author": "Ohayoyogi",
+    "version": (0,1,0),
+    "blender": (3,6,0),
+    "location": "File/Export",
+    "warning": "",
+    "wiki_url": "https://github.com/ohayoyogi/blender-exporter-colmap",
+    "tracker_url": "https://github.com/ohayoyogi/blender-exporter-colmap/issues",
+    "category": "Import-Export"
+}
+
+import bpy
+from bpy.props import StringProperty
+from bpy_extras.io_utils import ExportHelper
+from . ext.read_write_model import write_model, Camera, Image
+
+import mathutils
+from pathlib import Path
+import numpy as np
+
+class BlenderExporterForColmap(bpy.types.Operator, ExportHelper):
+
+    filename_ext = "."
+
+    directory: StringProperty()
+
+    filter_folder = True
+
+    def export_dataset(self, context, dirpath: Path, format: str):
+        scene = context.scene
+        scene_cameras = [ i for i in scene.objects if i.type == "CAMERA"]
+
+        output_format = format if format in ['.txt', '.bin'] else '.txt'
+
+        scale = scene.render.resolution_percentage / 100.0
+
+        output_dir = dirpath
+        images_dir = output_dir / 'images'
+
+        output_dir.mkdir(parents=True, exist_ok=True)
+
+        cameras = {}
+        images = {}
+        for idx, cam in enumerate(sorted(scene_cameras, key=lambda x: x.name_full + ".jpg")):
+            camera_id = idx+1
+            filename = f'{cam.name_full}.jpg'
+            width = scene.render.resolution_x
+            height = scene.render.resolution_y
+            focal_length = cam.data.lens
+            sensor_width = cam.data.sensor_width
+            sensor_height = cam.data.sensor_height
+            fx = focal_length * width / sensor_width
+            fy = focal_length * height / sensor_height
+            # fx, fy, cx, cy, k1, k2, p1, p2
+            params = [fx, fy, width/2, height/2, 0, 0, 0, 0]
+            cameras[camera_id] = Camera(
+                id=camera_id,
+                model='OPENCV',
+                width=width,
+                height=height,
+                params=params
+            )
+
+            image_id = camera_id
+            rotation_mode_bk = cam.rotation_mode
+
+            cam.rotation_mode = "QUATERNION"
+            cam_rot_orig = mathutils.Quaternion(cam.rotation_quaternion)
+            cam_rot = mathutils.Quaternion((
+                cam_rot_orig.x,
+                cam_rot_orig.w,
+                cam_rot_orig.z,
+                -cam_rot_orig.y))
+            qw = cam_rot.w
+            qx = cam_rot.x
+            qy = cam_rot.y
+            qz = cam_rot.z
+            cam.rotation_mode = rotation_mode_bk
+
+            T = mathutils.Vector(cam.location)
+            T1 = -(cam_rot.to_matrix() @ T)
+
+            tx = T1[0]
+            ty = T1[1]
+            tz = T1[2]
+            images[image_id] = Image(
+                id=image_id,
+                qvec=np.array([qw, qx, qy, qz]),
+                tvec=np.array([tx, ty, tz]),
+                camera_id=camera_id,
+                name=filename,
+                xys=[],
+                point3D_ids=[]
+            )
+
+            # Render scene
+            bpy.context.scene.camera = cam
+            bpy.ops.render.render()
+            bpy.data.images['Render Result'].save_render(
+                str(images_dir / filename))
+            yield 100.0 * idx / (len(scene_cameras) + 1)
+
+        write_model(cameras, images, {}, str(output_dir), output_format)
+        yield 100.0
+
+    def execute_(self, context, format):
+        dirpath = Path(self.directory)
+        if not dirpath.is_dir():
+            return { "WARNING", "Illegal directory was passed: " + self.directory }
+
+        context.window_manager.progress_begin(0, 100)
+        for progress in self.export_dataset(context, dirpath, format):
+            context.window_manager.progress_update(progress)
+        context.window_manager.progress_end()
+
+        return {"FINISHED"}
+
+class BlenderExporterForColmapBinary(BlenderExporterForColmap):
+    bl_idname = "object.colmap_dataset_generator_binary"
+    bl_label = "Export as colmap dataset with binary format"
+    bl_options = {"PRESET"}
+
+    def execute(self, context):
+        return super().execute_(context, '.bin')
+
+class BlenderExporterForColmapText(BlenderExporterForColmap):
+    bl_idname = "object.colmap_dataset_generator_text"
+    bl_label = "Export as colmap dataset with text format"
+    bl_options = {"PRESET"}
+
+    def execute(self, context):
+        return super().execute_(context, '.txt')
+
+def _blender_export_operator_function(topbar_file_import, context):
+    topbar_file_import.layout.operator(
+        BlenderExporterForColmapText.bl_idname, text="Colmap dataset (.txt)"
+    )
+    topbar_file_import.layout.operator(
+        BlenderExporterForColmapBinary.bl_idname, text="Colmap dataset (.bin)"
+    )
+
+def register():
+    bpy.utils.register_class(BlenderExporterForColmapBinary)
+    bpy.utils.register_class(BlenderExporterForColmapText)
+    bpy.types.TOPBAR_MT_file_export.append(_blender_export_operator_function)
+
+def unregister():
+    bpy.utils.unregister_class(BlenderExporterForColmapBinary)
+    bpy.utils.unregister_class(BlenderExporterForColmapText)
+
+if __name__ == "__main__":
+    register()