使用OPENSFM构建一个类似于DTU的数据集

构建相机参数文件

通过reconstruction.json来获取相机内外参数：

了解其中的元素：

"cameras": {
            "v2 dji fc6310r 5472 3648 brown 0.6666": {
                "projection_type": "brown",
                "width": 5472,
                "height": 3648,
                "focal_x": 0.6705854906080082,
                "focal_y": 0.6705854906080082,
                "c_x": -0.0008743229461124625,
                "c_y": -0.007920054330814687,
                "k1": -0.009704124772487914,
                "k2": -0.0007112073497550784,
                "p1": -0.0036577168962138615,
                "p2": -0.00040388999688357444,
                "k3": 0.008826904511977495
            }
        },
        "shots": {
            "100_0039_0112.JPG": {
                "rotation": [
                    3.1344387599198793,
                    -0.057623164437503364,
                    0.019009945955184574
                ],
                "translation": [
                    -294.3844983459479,
                    -124.77306157157436,
                    2266.6169629250944
                ],
                "camera": "v2 dji fc6310r 5472 3648 brown 0.6666",
                "orientation": 1,
                "capture_time": 1723038534.0,
                "gps_dop": 10.0,
                "gps_position": [
                    264.2819588735218,
                    -145.36810024470105,
                    2269.213865772821
                ],
                "vertices": [],
                "faces": [],
                "scale": 1.0,
                "covariance": [],
                "merge_cc": 0
            },

json中将数据以字典形式存储，其中：

 cameras：width为图像宽度，height为图像高度，focal_x为横向焦距，focal_y为纵向焦距，c_x为视图横坐标中心，c_y为视图纵坐标中心，k1,k2,k3以及p1,p2为相机畸变矫正

shots中存储了SFM构建的连接图中照片的位姿：

"100_0039_0112.JPG"为照片标号，rotation为俯仰角，translation为三个坐标系上的平移

通过如下代码进行reconstruction.json的文件转存为camera的txt文件

import json
import os
import cv2
import numpy as np

def rotvector2rot(rotvector):
    Rm = cv2.Rodrigues(rotvector)[0]
    return Rm

# 打开并读取JSON文件
with open('D:/project/project1/opensfm/reconstruction.json', 'r') as file:
    data = json.load(file)

# 访问并打印数据
# print(data["shots"])  # 输出: John Doe
# print(data[0]["shots"]['100_0039_0112.JPG'])

img_path = "D:/project/project1/images/"
save_path = "D:/project/MVSNET/scan1/cams/"
count = 0
# intrinsic = data[0]["cameras"]['v2 dji fc6310r 5472 3648 brown 0.6666']['focal_x']
# print(intrinsic)
for root, dirs, files in os.walk(img_path, topdown=False):
    # print(files)     # 当前目录路径
    file_count = 0
    for file in files:
        try:
            # print(data[0]["shots"][file]['rotation'])
            # print(data[0]["shots"][file]['translation'])

            rota = np.array(data[0]["shots"][file]['rotation'])
            tran = np.array([data[0]["shots"][file]['translation']]).T
            zero_ = np.array([[0, 0, 0, 1]])

            # print(rotvector2rot(rota))
            # print(tran)
            save_np = np.vstack((np.hstack((rotvector2rot(rota), tran)), zero_))
            txt_name = "00000000"
            txt_num = str(file_count)
            txt_name = save_path + txt_name[0:len(txt_name) - len(txt_num)] + txt_num + "_cam.txt"
            file_count += 1
            # print(txt_name)
            with open(txt_name, 'w', encoding='utf-8') as f:
                f.write("extrinsic" + '\n')
                for i in range(4):
                    for j in range(4):
                        f.write(str(save_np[i][j]) + ' ')
                    f.write('\n')
                f.write('\n' + 'intrinsic' + '\n')
                f.write(str(data[0]["cameras"]['v2 dji fc6310r 5472 3648 brown 0.6666']['focal_x']) + ' ')
                f.write('0' + ' ')
                f.write(str(data[0]["cameras"]['v2 dji fc6310r 5472 3648 brown 0.6666']['c_x']) + '\n')

                f.write('0' + ' ')
                f.write(str(data[0]["cameras"]['v2 dji fc6310r 5472 3648 brown 0.6666']['focal_y']) + ' ')
                f.write(str(data[0]["cameras"]['v2 dji fc6310r 5472 3648 brown 0.6666']['c_y']) + '\n')

                f.write('0' + ' ')
                f.write('0' + ' ')
                f.write('1' + ' ')
                f.write('\n')
                f.write('\n' + '425 2.5')

            count += 1
        except:
            continue
print(count)

构建pair.txt

通过如下代码进行pair构建，大多数的DTU格式数据集中相似度不关键，故设为1000

import os
import cv2
import numpy as np

img_path = "D:/project/project1/images/"
for root, dirs, files in os.walk(img_path, topdown=False):
    # print(files)     # 当前目录路径
    file_count = 1
    txt_name = "D:/project/pair.txt"
    with open(txt_name, 'w', encoding='utf-8') as f:
        f.write(str(len(files)) + '\n')
        for i in range(len(files) - 35):
            f.write(str(i) + '\n')
            f.write("10" + ' ')
            file_source = files[i]
            path_real = img_path + file_source
            key_value = {}
            for j in range(i + 1, i + 11):
                f.write(str(j) + ' 1000 ')
            f.write('\n')