Function visualize_sfm_2d

hloc/visualization.py:12–53

(reconstruction, image_dir, color_by='visibility',
                     selected=[], n=1, seed=0, dpi=75)

def visualize_sfm_2d(reconstruction, image_dir, color_by='visibility',
                     selected=[], n=1, seed=0, dpi=75):
    assert image_dir.exists()
    if not isinstance(reconstruction, pycolmap.Reconstruction):
        reconstruction = pycolmap.Reconstruction(reconstruction)

    if not selected:
        image_ids = reconstruction.reg_image_ids()
        selected = random.Random(seed).sample(
                image_ids, min(n, len(image_ids)))

    for i in selected:
        image = reconstruction.images[i]
        keypoints = np.array([p.xy for p in image.points2D])
        visible = np.array([p.has_point3D() for p in image.points2D])

        if color_by == 'visibility':
            color = [(0, 0, 1) if v else (1, 0, 0) for v in visible]
            text = f'visible: {np.count_nonzero(visible)}/{len(visible)}'
        elif color_by == 'track_length':
            tl = np.array([reconstruction.points3D[p.point3D_id].track.length()
                           if p.has_point3D() else 1 for p in image.points2D])
            max_, med_ = np.max(tl), np.median(tl[tl > 1])
            tl = np.log(tl)
            color = cm.jet(tl / tl.max()).tolist()
            text = f'max/median track length: {max_}/{med_}'
        elif color_by == 'depth':
            p3ids = [p.point3D_id for p in image.points2D if p.has_point3D()]
            z = np.array([image.transform_to_image(
                reconstruction.points3D[j].xyz)[-1] for j in p3ids])
            z -= z.min()
            color = cm.jet(z / np.percentile(z, 99.9))
            text = f'visible: {np.count_nonzero(visible)}/{len(visible)}'
            keypoints = keypoints[visible]
        else:
            raise NotImplementedError(f'Coloring not implemented: {color_by}.')

        name = image.name
        plot_images([read_image(image_dir / name)], dpi=dpi)
        plot_keypoints([keypoints], colors=[color], ps=4)
        add_text(0, text)
        add_text(0, name, pos=(0.01, 0.01), fs=5, lcolor=None, va='bottom')


def visualize_loc(results, image_dir, reconstruction=None, db_image_dir=None,