Class ColmapFileStorage

Defined in File colmapfilestorage.hpp

Class Documentation

class ColmapFileStorage

Class to read COLMAP projects and format into lib3D types.

More information on the camera models of colmap can be found here: https://colmap.github.io/cameras.html

Example

In this short example an object of a SimplePinholeCamera model and a depth map is read from a colmap project.

...

// create camera object and depth map
lib3d::Camera camera;
lib3d::DepthMap depthMap;

// write to binary files in outputDir
lib3d::ColmapFileStorage colmapFS("/path/to/sparse/dir", "/path/to/depth_map/dir");

// get list of files of specified camera model
std::vector<std::string> fileList = colmapFS.getFileNameList();

// read camera data
colmapFS.readCameraModel("image_file.jpg", camera);

// read depth map data
colmapFS.readDepthMap("image_file.jpg", depthMap);

...

Public Functions

inline explicit ColmapFileStorage(): Default constructor initializing the Cameradata directory with ‘./’ and a binary file format.

inline explicit ColmapFileStorage(const std::string &iCameradataDirPath, const std::string &iDepthMapDir)

Initialization constructor.

Parameters:

iCameradataDirPath – [in] Path to Cameradata directory in which e.g images.txt and cameras.txt are stored
iDepthMapDir – [in] Path to depth map directory

inline explicit ColmapFileStorage(const QDir &iCameradataDir, const QDir &iDepthMapDir)

Initialization constructor.

Parameters:

iCameradataDir – [in] Path to Cameradata directory in which e.g images.txt and cameras.txt are stored
iDepthMapDir – [in] Path to depth map directory

inline virtual ~ColmapFileStorage()

inline QDir cameradataDir() const: Returns camera directory in which e.g images.txt and cameras.txt are stored.

inline void setCameraDataDir(const QDir &cameradataDir)

Set Cameradata directory in which the data is to be stored.

Parameters:: cameradataDir – [in] Path to diretory.

inline void setCameraDataDir(const std::string &iDirPath)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters:: iDirPath – [in] Path to diretory.

inline QDir depthMapDir() const: Returns camera data directory in which e.g images.txt and cameras.txt are stored.

inline void setDepthMapDir(const QDir &depthMapDir)

Set depth map directory in which the data is to be stored.

Parameters:: depthMapDir – [in] Path to diretory.

inline void setDepthMapDir(const std::string &iDirPath)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Parameters:: iDirPath – [in] Path to diretory.

inline std::vector<std::string> getFileNameList() const: Get list of file names available for the templated camera model.

inline bool readCameraModel(const std::string &iFileName, lib3d::Camera &oCamera)

Read camera data from map.

Parameters:

iFileName – [in] File name for which the data is to be extracted.
oCamera – [out] output camera

Returns:

Returns false if there exists no such camera model to given file name

inline bool readDepthMap(const std::string &iFileName, cv::Mat &oDepthMap, std::string iDepthMapType = "geometric")

Read depth map from disk. Uses iFileName and base path.

Parameters:

iFileName – [in] base name of depth map file.
oDepthMap – [out] output depth map.
iDepthMapType – [in] type of depth map (geometric or photometric).

Returns:

True if successful, false otherise.

inline bool readDepthMap(const std::string &iFileName, lib3d::DepthMap &oDepthMap, std::string iDepthMapType = "geometric"): This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

inline bool writeDepthMap(const std::string &iFileName, const cv::Mat &iDepthMap, std::string iDepthMapType = "geometric")

Write depth map to disk in colmap format. Uses iFileName and base path.

Parameters:

iFileName – [in] base name of depth map file.
iDepthMap – [in] depth map to write.
iDepthMapType – [in] type of depth map (geometric or photometric).

Returns:

True if successful, false otherise.

inline bool writeDepthMap(const std::string &iFileName, const lib3d::DepthMap &iDepthMap, std::string iDepthMapType = "geometric"): This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.