-
Notifications
You must be signed in to change notification settings - Fork 10
/
Copy pathintrinsics_other_bench.py
369 lines (287 loc) · 12.5 KB
/
intrinsics_other_bench.py
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
import os
import numpy as np
import csv
import _pickle as cPickle
import bz2
import matplotlib.pyplot as plt
from matplotlib.ticker import AutoMinorLocator
# Load any compressed pickle file
def decompress_pickle(file):
data = bz2.BZ2File(file, 'rb')
data = cPickle.load(data)
return data
def magadepth_intrinsics_statistics(bench_path):
ppath = os.path.join(bench_path, 'gt_data', 'megadepth')
npz_list = [i for i in os.listdir(ppath) if (os.path.splitext(i)[1] == '.npz')]
data = {}
for name in npz_list:
scene_info = np.load(os.path.join(ppath, name), allow_pickle=True)
# Collect pairs
for pair_info in scene_info['pair_infos']:
(id1, id2), _, _ = pair_info
K1 = scene_info['intrinsics'][id1].astype(np.float32)
K2 = scene_info['intrinsics'][id2].astype(np.float32)
idx1 = scene_info['image_paths'][id1].replace('Undistorted_SfM/', '')
idx2 = scene_info['image_paths'][id2].replace('Undistorted_SfM/', '')
data[idx1] = K1
data[idx2] = K2
return data
def scannet_intrinsics_statistics(bench_path):
ppath = os.path.join(bench_path, 'gt_data', 'scannet')
intrinsic_path = 'intrinsics.npz'
npz_path = 'test.npz'
data = np.load(os.path.join(ppath, npz_path))
data_names = data['name']
intrinsics = dict(np.load(os.path.join(ppath, intrinsic_path)))
data = {}
for idx in range(data_names.shape[0]):
scene_name, scene_sub_name, stem_name_0, stem_name_1 = data_names[idx]
scene_name = f'scene{scene_name:04d}_{scene_sub_name:02d}'
K1 = intrinsics[scene_name]
K2 = intrinsics[scene_name]
idx1 = os.path.join(scene_name, 'color', f'{stem_name_0}.jpg')
idx2 = os.path.join(scene_name, 'color', f'{stem_name_1}.jpg')
data[idx1] = K1
data[idx2] = K2
return data
def phototourism_intrinsics_statistics(bench_path):
out_dir = os.path.join(bench_path, 'imc_phototourism')
scenes = [scene for scene in os.listdir(os.path.join(out_dir, 'train')) if os.path.isdir(os.path.join(out_dir, 'train', scene))]
sampled_idx = decompress_pickle(os.path.join(bench_path, 'downloads', 'imc_sampled_idx.pbz2'))
data = {}
for sn in range(len(scenes)):
scene = scenes[sn]
work_path = os.path.join(out_dir, 'train', scene)
pose_file = os.path.join(work_path, 'calibration.csv')
covis_file = os.path.join(work_path, 'pair_covisibility.csv')
if (not os.path.isfile(pose_file)) or (not os.path.isfile(covis_file)):
continue
im1_ = []
im2_ = []
with open(covis_file, newline='') as csvfile:
reader = csv.DictReader(csvfile)
for row in reader:
pp = row['pair'].split('-')
im1_.append(os.path.join(scene, pp[0]))
im2_.append(os.path.join(scene, pp[1]))
# covis_val.append(float(row['covisibility']))
full_idx = sampled_idx[scene]
im1_ = [im1_[i] for i in full_idx]
im2_ = [im2_[i] for i in full_idx]
Kv = {}
calib_file = os.path.join(work_path, 'calibration.csv')
with open(calib_file, newline='') as csvfile:
reader = csv.DictReader(csvfile)
for row in reader:
cam = os.path.join(scene, row['image_id'])
Kv[cam] = np.asarray([float(i) for i in row['camera_intrinsics'].split(' ')]).reshape((3, 3))
for i in range(len(im1_)):
K1 = Kv[im1_[i]]
K2 = Kv[im2_[i]]
idx1 = im1_[i]
idx2 = im2_[i]
data[idx1] = K1
data[idx2] = K2
return data
def plot_focal_length_vs_parameter(bench_path, data, dataset_name):
ppath = os.path.join(bench_path, 'res', 'latex')
os.makedirs(ppath, exist_ok=True)
fig_dpi = 300
focal_lengths = []
q_values_min = []
q_values_max = []
q_values_avg = []
q_values_sqrt = []
for key, K in data.items():
fx = K[0, 0]
fy = K[1, 1]
cx = K[0, 2]
cy = K[1, 2]
q_min = min(cx, cy)
q_max = max(cx, cy)
q_avg = (cx + cy) / 2
q_sqrt = np.sqrt(cx * cy)
focal_length = max(fx, fy)
focal_lengths.append(focal_length)
q_values_min.append(q_min)
q_values_max.append(q_max)
q_values_avg.append(q_avg)
q_values_sqrt.append(q_sqrt)
fig, axs = plt.subplots(2, 2, figsize=(10, 8))
axs[0, 0].scatter(q_values_min, focal_lengths, alpha=0.5, marker='.', s=3, color='r')
axs[0, 0].set_title(dataset_name + ': $f$ vs $\min(c_x, c_y)$')
axs[0, 0].set_xlabel('$\min(c_x, c_y)$')
axs[0, 0].set_ylabel('$f$')
axs[0, 1].scatter(q_values_max, focal_lengths, alpha=0.5, marker='.', s=3, color='g')
axs[0, 1].set_title(dataset_name + ': $f$ vs $\max(c_x, c_y)$')
axs[0, 1].set_xlabel('$\max(c_x, c_y)$')
axs[0, 1].set_ylabel('$f$')
axs[1, 0].scatter(q_values_avg, focal_lengths, alpha=0.5, marker='.', s=3, color='b')
axs[1, 0].set_title(dataset_name +': $f$ vs $\\frac{c_x + c_y}{2}$')
axs[1, 0].set_xlabel('$\\frac{c_x + c_y}{2}$')
axs[1, 0].set_ylabel('$f$')
axs[1, 1].scatter(q_values_sqrt, focal_lengths, alpha=0.5, marker='.', s=3, color='m')
axs[1, 1].set_title(dataset_name + ': $f$ vs $\\sqrt{c_x c_y}$')
axs[1, 1].set_xlabel('$\\sqrt{c_x c_y}$')
axs[1, 1].set_ylabel('$f$')
plt.tight_layout()
fig_name = os.path.join(ppath, dataset_name.lower() + '_focal_length_vs_parameter.pdf')
plt.savefig(fig_name, dpi = fig_dpi, bbox_inches='tight')
def plot_focal_length_vs_parameter_combine(datasets, dataset_names):
ppath = os.path.join(bench_path, 'res', 'latex')
os.makedirs(ppath, exist_ok=True)
fig_dpi = 300
fig, axs = plt.subplots(2, 2, figsize=(10, 8))
colors = ['b', 'g', 'r']
for data, dataset_name, color in zip(datasets, dataset_names, colors):
focal_lengths = []
q_values_min = []
q_values_max = []
q_values_avg = []
q_values_sqrt = []
for key, K in data.items():
fx = K[0, 0]
fy = K[1, 1]
cx = K[0, 2]
cy = K[1, 2]
q_min = min(cx, cy)
q_max = max(cx, cy)
q_avg = (cx + cy) / 2
q_sqrt = np.sqrt(cx * cy)
focal_length = max(fx, fy)
focal_lengths.append(focal_length)
q_values_min.append(q_min)
q_values_max.append(q_max)
q_values_avg.append(q_avg)
q_values_sqrt.append(q_sqrt)
axs[0, 0].scatter(q_values_min, focal_lengths, alpha=0.2, marker='.', s=3, color=color, label=dataset_name)
axs[0, 0].set_title('$f$ vs $\min(c_x, c_y)$')
axs[0, 0].set_xlabel('$\min(c_x, c_y)$')
axs[0, 0].set_ylabel('$f$')
axs[0, 1].scatter(q_values_max, focal_lengths, alpha=0.2, marker='.', s=3, color=color, label=dataset_name)
axs[0, 1].set_title('$f$ vs $\max(c_x, c_y)$')
axs[0, 1].set_xlabel('$\max(c_x, c_y)$')
axs[0, 1].set_ylabel('Focal Length')
axs[1, 0].scatter(q_values_avg, focal_lengths, alpha=0.2, marker='.', s=3, color=color, label=dataset_name)
axs[1, 0].set_title('$f$ vs $\\frac{c_x + c_y}{2}$')
axs[1, 0].set_xlabel('$\\frac{c_x + c_y}{2}$')
axs[1, 0].set_ylabel('$f$')
axs[1, 1].scatter(q_values_sqrt, focal_lengths, alpha=0.2, marker='.', s=3, color=color, label=dataset_name)
axs[1, 1].set_title('$f$ vs $\\sqrt{c_x c_y}$')
axs[1, 1].set_xlabel('$\\sqrt{c_x c_y}$')
axs[1, 1].set_ylabel('$f$')
for ax in axs.flat:
ax.legend()
plt.tight_layout()
fig_name = os.path.join(ppath, 'focal_length_vs_all_parameter.pdf')
plt.savefig(fig_name, dpi = fig_dpi, bbox_inches='tight')
def plot_focal_length_vs_parameter_separate(datasets, dataset_names):
ppath = os.path.join(bench_path, 'res', 'latex')
os.makedirs(ppath, exist_ok=True)
fig_dpi = 300
colors = ['b', 'g', 'r']
markers = ['x', '+', 'o']
# plt.figure()
# for data, dataset_name, color in zip(datasets, dataset_names, colors):
# focal_lengths = []
# q_values_min = []
# for key, K in data.items():
# fx = K[0, 0]
# fy = K[1, 1]
# cx = K[0, 2]
# cy = K[1, 2]
# q_min = min(cx, cy)
# focal_length = max(fx, fy)
# focal_lengths.append(focal_length)
# q_values_min.append(q_min)
# plt.scatter(q_values_min, focal_lengths, alpha=0.2, marker='.', s=3, color=color, label=dataset_name)
# plt.title('$f$ vs $\min(c_x, c_y)$')
# plt.xlabel('$\min(c_x, c_y)$')
# plt.ylabel('$f$')
# plt.legend()
# plt.tight_layout()
# fig_name = os.path.join(ppath, 'focal_length_vs_min_cx_cy.pdf')
# plt.savefig(fig_name, dpi = fig_dpi, bbox_inches='tight')
fig, ax = plt.subplots()
for data, dataset_name, color, marker in zip(datasets, dataset_names, colors, markers):
focal_lengths = []
q_values_max = []
for key, K in data.items():
fx = K[0, 0]
fy = K[1, 1]
cx = K[0, 2]
cy = K[1, 2]
q_max = max(cx, cy)
focal_length = max(fx, fy)
focal_lengths.append(focal_length)
q_values_max.append(q_max)
plt.scatter(q_values_max, focal_lengths, alpha=0.2, marker=marker, s=15, color=color, label=dataset_name)
# plt.title('$f$ vs $\max(c_x, c_y)$')
plt.xlabel('$\max(c_x, c_y)$')
plt.ylabel('$f$')
ax.yaxis.set_minor_locator(AutoMinorLocator())
ax.xaxis.set_minor_locator(AutoMinorLocator())
plt.plot([1, 850], [1, 850 *2], 'k:', alpha=0.5, label = '$f = 2 \max(c_x, c_y)$')
plt.legend()
plt.tight_layout()
fig_name = os.path.join(ppath, 'focal_length_vs_max_cx_cy.pdf')
plt.savefig(fig_name, dpi = fig_dpi, bbox_inches='tight')
# plt.figure()
# for data, dataset_name, color in zip(datasets, dataset_names, colors):
# focal_lengths = []
# q_values_avg = []
# for key, K in data.items():
# fx = K[0, 0]
# fy = K[1, 1]
# cx = K[0, 2]
# cy = K[1, 2]
# q_avg = (cx + cy) / 2
# focal_length = max(fx, fy)
# focal_lengths.append(focal_length)
# q_values_avg.append(q_avg)
# plt.scatter(q_values_avg, focal_lengths, alpha=0.2, marker='.', s=3, color=color, label=dataset_name)
# plt.title('$f$ vs $\\frac{c_x + c_y}{2}$')
# plt.xlabel('$\\frac{c_x + c_y}{2}$')
# plt.ylabel('$f$')
# plt.legend()
# plt.tight_layout()
# fig_name = os.path.join(ppath, 'focal_length_vs_half_cx_cy.pdf')
# plt.savefig(fig_name, dpi = fig_dpi, bbox_inches='tight')
# plt.figure()
# for data, dataset_name, color in zip(datasets, dataset_names, colors):
# focal_lengths = []
# q_values_sqrt = []
# for key, K in data.items():
# fx = K[0, 0]
# fy = K[1, 1]
# cx = K[0, 2]
# cy = K[1, 2]
# q_sqrt = np.sqrt(cx * cy)
# focal_length = max(fx, fy)
# focal_lengths.append(focal_length)
# q_values_sqrt.append(q_sqrt)
# plt.scatter(q_values_sqrt, focal_lengths, alpha=0.2, marker='.', s=3, color=color, label=dataset_name)
# plt.title('$f$ vs $\sqrt{c_x c_y}$')
# plt.xlabel('$\sqrt{c_x c_y}$')
# plt.ylabel('$f$')
# plt.legend()
# plt.tight_layout()
# fig_name = os.path.join(ppath, 'focal_length_vs_sqrt_cx_cy.pdf')
# plt.savefig(fig_name, dpi = fig_dpi, bbox_inches='tight')
if __name__ == '__main__':
bench_path = '../bench_data'
plt.rcParams.update({
"text.usetex": True,
"font.family": "serif",
"font.sans-serif": "Times",
})
megadepth_data = magadepth_intrinsics_statistics(bench_path)
scannet_data = scannet_intrinsics_statistics(bench_path)
phototourism_data = phototourism_intrinsics_statistics(bench_path)
# plot_focal_length_vs_parameter(bench_path, megadepth_data, "MegaDepth")
# plot_focal_length_vs_parameter(bench_path, scannet_data, "ScanNet")
# plot_focal_length_vs_parameter(bench_path, phototourism_data, "PhotoTourism")
datasets = [phototourism_data, megadepth_data, scannet_data]
dataset_names = ["IMC PhotoTourism", "MegaDepth", "ScanNet"]
# plot_focal_length_vs_parameter_combine(datasets, dataset_names)
plot_focal_length_vs_parameter_separate(datasets, dataset_names)