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fix bugs in COLMAP images text loading #177

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Merged
fwilliams merged 1 commit into from
Jan 30, 2026
Merged

fix bugs in COLMAP images text loading #177

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70 changes: 32 additions & 38 deletions fvdb_reality_capture/sfm_scene/_colmap_utils/scene_manager.py
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Original file line number Diff line number Diff line change
Expand Up @@ -184,42 +184,25 @@ def _load_images_bin(self, input_file):
def _load_images_txt(self, input_file):
self.images = OrderedDict()

with open(input_file, "r") as f:
is_camera_description_line = False

for line in iter(lambda: f.readline().strip(), ""):
if not line or line.startswith("#"):
continue

is_camera_description_line = not is_camera_description_line

data = line.split()

if is_camera_description_line:
read_quat = np.array(list(map(float, data[1:5])))
read_pos = np.array(list(map(float, data[5:8])))
image_id = int(data[0])
image = Image(
data[-1],
int(data[-2]),
Quaternion(read_quat),
read_pos,
)
else:
points_2d_x = [float(x) for x in data[::3]]
points_2d_y = [float(y) for y in data[1::3]]
point3d_ids = [np.uint64(pid) for pid in data[2::3]]
image.points2D = np.array([points_2d_x, points_2d_y]).T
image.point3D_ids = np.array(point3d_ids, dtype=np.uint64)

# automatically remove points without an associated 3D point
# mask = (image.point3D_ids != SceneManager.INVALID_POINT3D)
# image.points2D = image.points2D[mask]
# image.point3D_ids = image.point3D_ids[mask]

self.images[image_id] = image
self.name_to_image_id[image.name] = image_id

with open(input_file, "r") as fid:
while True:
line = fid.readline()
if not line:
break
line = line.strip()
if len(line) > 0 and line[0] != "#":
elems = line.split()
image_id = int(elems[0])
qvec = np.array(list(map(float, elems[1:5])))
tvec = np.array(list(map(float, elems[5:8])))
camera_id = int(elems[8])
image_name = elems[9]
elems = fid.readline().split()
xys = np.column_stack([tuple(map(float, elems[0::3])), tuple(map(float, elems[1::3]))])
point3D_ids = np.array(tuple(map(int, elems[2::3])))
self.images[image_id] = Image(image_name, camera_id, Quaternion(qvec), tvec)
self.images[image_id].points2D = xys
self.images[image_id].point3D_ids = point3D_ids
self.last_image_id = max(self.last_image_id, image_id)

# ---------------------------------------------------------------------------
Expand Down Expand Up @@ -386,7 +369,11 @@ def _save_images_txt(self, output_file):
print >> fid, image.camera_id, image.name

data = np.rec.fromarrays(
(image.points2D[:, 0], image.points2D[:, 1], image.point3D_ids.astype(np.int64))
(
image.points2D[:, 0],
image.points2D[:, 1],
image.point3D_ids.astype(np.int64),
)
)
if len(data) > 0:
np.savetxt(fid, data, "%.2f %.2f %d", newline=" ")
Expand Down Expand Up @@ -591,7 +578,14 @@ def delete_images(self, image_list):

# camera_list: set of cameras whose points we'd like to keep
# min/max triangulation angle: in degrees
def filter_points3D(self, min_track_len=0, max_error=np.inf, min_tri_angle=0, max_tri_angle=180, image_set=set()):
def filter_points3D(
self,
min_track_len=0,
max_error=np.inf,
min_tri_angle=0,
max_tri_angle=180,
image_set=set(),
):

image_set = set(image_set)

Expand Down
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