videos_to_colmap.py 23.2 KB
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from colmap_util import read_model as rm, database as db
import anafi_metadata as am
from wrappers import FFMpeg, PDraw
from sklearn.cluster import KMeans
from sklearn.metrics import pairwise_distances_argmin_min
from argparse import ArgumentParser, ArgumentDefaultsHelpFormatter
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from edit_exif import set_gps_location
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from path import Path
import pandas as pd
import numpy as np
from pyproj import Proj
from tqdm import tqdm
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import tempfile
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parser = ArgumentParser(description='Take all the drone videos of a folder and put the frame '
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                                    'location in a COLMAP file for visualization',
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                        formatter_class=ArgumentDefaultsHelpFormatter)

parser.add_argument('--video_folder', metavar='DIR',
                    help='path to videos', type=Path)
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parser.add_argument('--system', default='epsg:2154',
                    help='coordinates system used for GPS, should be the same as the LAS files used')
parser.add_argument('--centroid_path', default=None, help="path to centroid generated in las2ply.py")
parser.add_argument('--colmap_img_root', metavar='DIR', type=Path,
                    help="folder that will be used as \"image_path\" parameter when using COLMAP", required=True)
parser.add_argument('--output_format', metavar='EXT', default="bin", choices=["bin", "txt"],
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                    help='format of the COLMAP file that will be outputed, used for visualization only')
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parser.add_argument('--vid_ext', nargs='+', default=[".mp4", ".MP4"],
                    help="format of video files that will be scraped from input folder")
parser.add_argument('--pic_ext', nargs='+', default=[".jpg", ".JPG", ".png", ".PNG"],
                    help='format of images that will be scraped from already existing images in colmap image_path folder')
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parser.add_argument('--nw', default='',
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                    help="native-wrapper.sh file location (see Anafi SDK documentation)")
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parser.add_argument('--fps', default=1, type=int,
                    help="framerate at which videos will be scanned WITH reconstruction")
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parser.add_argument('--total_frames', default=200, type=int, help="number of frames used for thorough photogrammetry")
parser.add_argument('--max_sequence_length', default=1000, help='Number max of frames for a chunk. '
                    'This is for RAM purpose, as loading feature matches of thousands of frames can take up GBs of RAM')
parser.add_argument('--orientation_weight', default=1, type=float,
                    help="Weight applied to orientation during optimal sample. "
                    "Higher means two pictures with same location but different orientation will be considered farer apart")
parser.add_argument('--resolution_weight', default=1, type=float, help="same as orientation, but with image size")
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parser.add_argument('--save_space', action="store_true",
                    help="if selected, will only extract from ffmpeg frames used for thorough photogrammetry")
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parser.add_argument('--thorough_db', type=Path, help="output db file which will be used by COLMAP for photogrammetry")
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parser.add_argument('--generic_model', default='OPENCV',
                    help='COLMAP model for generic videos. Same zoom level assumed throughout the whole video. '
                    'See https://colmap.github.io/cameras.html')
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parser.add_argument('-v', '--verbose', action="count", default=0)
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def world_coord_from_frame(frame_qvec, frame_tvec):
    '''
    frame_qvec is written in the NED system (north east down)
    frame_tvec is already is the world system (east norht up)
    '''
    world2NED = np.float32([[0, 1, 0],
                            [1, 0, 0],
                            [0, 0, -1]])
    NED2cam = np.float32([[0, 1, 0],
                          [0, 0, 1],
                          [1, 0, 0]])
    world2cam = NED2cam @ rm.qvec2rotmat(frame_qvec).T @ world2NED
    cam_tvec = - world2cam  @ frame_tvec
    cam_qvec = rm.rotmat2qvec(world2cam)
    return cam_qvec, cam_tvec


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def set_gps(frames_list, metadata, image_path):
    for frame in frames_list:
        relative = str(frame.relpath(image_path))
        row = metadata[metadata["image_path"] == relative]
        if len(row) > 0:
            row = row.iloc[0]
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            if row["location_valid"] and not row['indoor']:
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                set_gps_location(frame,
                                 lat=row["location_latitude"],
                                 lng=row["location_longitude"],
                                 altitude=row["location_altitude"])
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def get_georef(metadata):
    relevant_data = metadata[["location_valid", "image_path", "x", "y", "z"]]
    path_list = []
    georef_list = []
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    for _, (loc_valid, path, x, y, alt) in relevant_data.iterrows():
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        path_list.append(path)
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        if loc_valid:
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            georef_list.append("{} {} {} {}\n".format(path, x, y, alt))
    return georef_list, path_list


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def optimal_sample(metadata, num_frames, orientation_weight, resolution_weight):
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    # already sampled frames are discarded as we want to sample frames in addition to them
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    valid_metadata = metadata[~metadata["sampled"]].dropna()
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    if len(valid_metadata) == 0:
        return metadata
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    XYZ = valid_metadata[["x", "y", "z"]].values
    axis_angle = valid_metadata[["frame_quat_x", "frame_quat_y", "frame_quat_z"]].values
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    if "indoor" in valid_metadata.keys() and (True in valid_metadata["indoor"].unique()):
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        # We have indoor videos, without absolute positions. We assume each video is very far
        # from the other ones. As such we will have an optimal subsampling of each video
        # It won't leverage video proximity from each other but it's better than nothing
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        diameter = (XYZ.max(axis=0) - XYZ.min(axis=0))
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        indoor_videos = valid_metadata.loc[valid_metadata["indoor"]]["video"].unique()
        new_centroids = 2 * diameter * np.linspace(0, 10, len(indoor_videos)).reshape(-1, 1)
        for centroid, v in zip(new_centroids, indoor_videos):
            video_index = (valid_metadata["video"] == v).values
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            XYZ[video_index] += centroid

    weighted_point_cloud = np.concatenate([XYZ, orientation_weight * axis_angle], axis=1)

    if resolution_weight == 0:
        weights = None
    else:
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        frame_size = valid_metadata["video_quality"].values
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        weights = frame_size ** resolution_weight
    km = KMeans(n_clusters=num_frames).fit(weighted_point_cloud, sample_weight=weights)
    closest, _ = pairwise_distances_argmin_min(km.cluster_centers_, weighted_point_cloud)
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    metadata.at[valid_metadata.index[closest], "sampled"] = True
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    return metadata


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def register_new_cameras(metadata, device, fields, database, camera_dict):
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    camera_ids = []
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    cameras_dataframe = metadata[metadata["device"] == device][["device"] + fields].drop_duplicates()
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    for _, row in cameras_dataframe.iterrows():
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        camera_model, w, h, params = row.reindex(["camera_model", "width", "height", "camera_params"])
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        model_id = rm.CAMERA_MODEL_NAMES[camera_model].model_id
        num_params = rm.CAMERA_MODEL_NAMES[camera_model].num_params
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        assert num_params >= len(params), "Got {} params for camera {}".format(len(params), camera_model)
        # Single focal models are SIMPLE_PINHOLE, SIMPLE_RADIAL, SIMPLE_RADIAL_FISHEYE, RADIAL and RADIAL_FISHEYE
        single_focal = ('SIMPLE' in camera_model) or ('RADIAL' in camera_model)
        num_focals = 1 if single_focal else 2
        params = np.array(list(params) + [0] * (num_params - len(params)))

        # prior_focal_length is whether or not COLMAP should rely on it.
        prior_focal_length = all(params[:num_focals] != 0)
        # For unknown focal_length, put a generic placeholder
        params[:num_focals][params[:num_focals] == 0] = w / 2
        # We can get less params than actual params if they are unknown. We then pad it with zeros
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        db_id = database.add_camera(model_id, int(w), int(h), params, prior_focal_length=prior_focal_length)
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        camera_ids.append(db_id)
        camera_dict[db_id] = rm.Camera(id=db_id,
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                                       model=camera_model,
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                                       width=int(w),
                                       height=int(h),
                                       params=params)
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        metadata.loc[(metadata[["device"] + fields] == row).all(axis=1), "camera_id"] = db_id
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    ids_series = pd.Series(camera_ids)
    return cameras_dataframe.set_index(ids_series)


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def get_video_metadata(v, output_video_folder, system, generic_model='OPENCV', ** env):
    width, height, framerate, num_frames = env["ffmpeg"].get_size_and_framerate(v)
    video_output_folder = output_video_folder / "{}x{}".format(width, height) / v.stem

    def string_to_tuple(tuple_string):
        assert(tuple_string[0] == '(' and tuple_string[-1] == ')')
        return tuple([float(f) for f in tuple_string[1:-1].split(', ')])

    def generic_metadata():
        metadata = pd.DataFrame({"video": [v] * num_frames})
        metadata["height"] = height
        metadata["width"] = width
        metadata["framerate"] = framerate
        metadata["video_quality"] = height * width / framerate
        metadata['frame'] = metadata.index + 1
        # timestemp is in microseconds
        metadata['time'] = 1e6 * metadata.index / framerate
        metadata['indoor'] = True
        metadata['location_valid'] = False
        metadata["device"] = "generic"
        metadata["camera_model"] = generic_model
        metadata["frame_quat_w"] = np.NaN
        metadata["frame_quat_x"] = np.NaN
        metadata["frame_quat_y"] = np.NaN
        metadata["frame_quat_z"] = np.NaN
        metadata["x"] = np.NaN
        metadata["y"] = np.NaN
        metadata["z"] = np.NaN
        metadata["camera_params"] = [tuple()] * len(metadata)
        return metadata

    # First, try to open the CSV file {video name}_metadata.csv which should contain the metadata
    # If it fails, try to get metadata from MP4 by using PDraw
    # At last resort, simply assume generic parameters

    metadata_file_path = v.parent / "{}_metadata.csv".format(v.stem)
    if metadata_file_path.isfile():
        metadata = pd.read_csv(metadata_file_path)
        # check that the pandas dataframe is well formed
        keys_to_check = ["camera_model", "camera_params", "x", "y", "z",
                         "frame_quat_w", "frame_quat_x", "frame_quat_y", "frame_quat_z",
                         "location_valid", "time"]
        for k in keys_to_check:
            assert k in metadata.keys(), "Metadata file does not contain required field {}".format(k)
        metadata["camera_params"] = metadata["camera_params"].apply(string_to_tuple)
        if "frame" not in metadata.keys():
            metadata["frame"] = range(1, len(metadata) + 1)
        metadata['video'] = v
        if 'indoor' not in metadata.keys():
            metadata['indoor'] = len(metadata[metadata["location_valid"]]) > 0
        if 'video_quality' not in metadata.keys():
            metadata["video_quality"] = height * width / framerate
        device = "other"
    else:
        try:
            proj = Proj(system)
            metadata = am.extract_metadata(v.parent, v, env["pdraw"], proj,
                                           width, height, framerate)
            metadata["camera_model"] = "PINHOLE"
            device = "anafi"
        except Exception:
            # No metadata found, construct a simpler dataframe without location
            metadata = generic_metadata()
            device = "generic"
    metadata["num_frames"] = num_frames
    metadata["device"] = device
    return metadata, device, video_output_folder


def process_video_folder(videos_list, existing_pictures, output_video_folder, image_path, centroid,
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                         thorough_db, fps=1, total_frames=500, orientation_weight=1, resolution_weight=1,
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                         output_colmap_format="bin", save_space=False, include_lowfps_thorough=False,
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                         max_sequence_length=1000, num_neighbours=10, existing_georef=False, **env):
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    metadata_list = []
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    video_output_folders = {}
    images = {}
    colmap_cameras = {}
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    tempfile_database = Path(tempfile.NamedTemporaryFile().name)
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    if thorough_db.isfile():
        thorough_db.copy(thorough_db.stripext() + "_backup.db")
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    path_lists_output = {}
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    database = db.COLMAPDatabase.connect(thorough_db)
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    database.create_tables()

    print("extracting metadata for {} videos...".format(len(videos_list)))
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    videos_summary = {"anafi": {"indoor": 0, "outdoor": 0},
                      "other": {"indoor": 0, "outdoor": 0},
                      "generic": 0}
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    for v in tqdm(videos_list):
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        metadata, device, output_folder = get_video_metadata(v, output_video_folder, **env)
        video_output_folders[v] = output_folder
        output_folder.makedirs_p()
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        if include_lowfps_thorough:
            by_time = metadata.set_index(pd.to_datetime(metadata["time"], unit="us"))
            by_time_lowfps = by_time.resample("{:.3f}S".format(1/fps)).first()
            metadata["sampled"] = by_time["time"].isin(by_time_lowfps["time"]).values
        else:
            metadata["sampled"] = False
        if device == "generic":
            videos_summary["generic"] += 1
        else:
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            raw_positions = metadata[["x", "y", "z"]]
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            if metadata["indoor"].iloc[0]:
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                videos_summary[device]["indoor"] += 1
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            else:
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                videos_summary[device]["outdoor"] += 1
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                if centroid is None:
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                    '''No centroid (possibly because there was no georeferenced lidar pointcloud in the first place)
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                    set it as the first valid GPS position of the first outdoor video'''
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                    centroid = raw_positions[metadata["location_valid"]].iloc[0].values
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                zero_centered_positions = raw_positions.values - centroid
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                radius = np.max(np.abs(zero_centered_positions))
                if radius > 1000:
                    print("Warning, your positions coordinates are most likely too high, have you configured the right GPS system ?")
                    print("It should be the same as the one used for the Lidar point cloud")
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                metadata["x"], metadata["y"], metadata["z"] = zero_centered_positions.transpose()
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        metadata_list.append(metadata)
    final_metadata = pd.concat(metadata_list, ignore_index=True)
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    print("{} outdoor anafi videos".format(videos_summary["anafi"]["outdoor"]))
    print("{} indoor anafi videos".format(videos_summary["anafi"]["indoor"]))
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    print("{} indoor other videos".format(videos_summary["other"]["outdoor"]))
    print("{} indoor other videos".format(videos_summary["other"]["indoor"]))
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    print("{} generic videos".format(videos_summary["generic"]))
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    if((not existing_georef) and (sum(final_metadata["location_valid"]) == 0) and (videos_summary["anafi"]["indoor"] > 0)):
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        # We have no GPS data but we have navdata, which will help rescale the colmap model
        # Take the longest video and do as if the GPS was valid
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        indoor_video_diameters = {}
        for md in metadata_list:
            if (metadata["device"].iloc[0] != "anafi") or (not metadata["indoor"].iloc[0]):
                continue
            positions = md[["x", "y", "z"]].values
            video_displacement_diameter = np.linalg.norm(positions.max(axis=0) - positions.min(axis=0))
            if not np.isnan(video_displacement_diameter):
                indoor_video_diameters[video_displacement_diameter] = v

        if len(indoor_video_diameters) > 0:
            longest_video = indoor_video_diameters[max(indoor_video_diameters)]
            print("Only indoor videos used, will use {} for COLMAP rescaling".format(longest_video))
            video_index = final_metadata["video"] == longest_video
            final_metadata.loc[video_index, "location_valid"] = True
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    print("{} frames in total".format(len(final_metadata)))

    final_metadata["camera_id"] = 0
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    # Set up Anafi cameras, zoom included
    cam_fields = ["camera_model", "width", "height", "camera_params"]
    cam_dfs = []

    if any(final_metadata["device"] == "other"):
        cam_dfs.append(register_new_cameras(final_metadata, "other", cam_fields, database, colmap_cameras))
    if any(final_metadata["device"] == "anafi"):
        # For anafi we don't treat cameras the same if the framerate is different
        # because potentially different rectification algorithms are applied
        anafi_cam_fields = cam_fields + ["framerate"]
        cam_dfs.append(register_new_cameras(final_metadata, "anafi", anafi_cam_fields, database, colmap_cameras))
    if any(final_metadata["device"] == "generic"):
        print("Undefined remaining devices, assigning generic models to them")
        # Fix a single camera per video. This doesn't support different levels of zoom, but
        # COLMAP is not robust to too many different independant camera models
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        generic_cam_fields = cam_fields + ["video"]
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        cam_dfs.append(register_new_cameras(final_metadata, "generic", generic_cam_fields, database, colmap_cameras))
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    print("Cameras : ")
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    print(pd.concat(cam_dfs))
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    to_extract = total_frames - len(existing_pictures) - sum(final_metadata["sampled"])
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    if to_extract <= 0:
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        pass
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    elif to_extract < len(final_metadata):
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        print("subsampling based on K-Means, to get {}"
              " frames from videos, for a total of {} frames".format(to_extract, total_frames))
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        final_metadata = optimal_sample(final_metadata, to_extract,
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                                        orientation_weight,
                                        resolution_weight)
        print("Done.")
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    else:
        final_metadata["sampled"] = True
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    print("Constructing COLMAP model with {:,} frames".format(sum(final_metadata["sampled"])))
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    database.commit()
    thorough_db.copy(tempfile_database)
    temp_database = db.COLMAPDatabase.connect(tempfile_database)

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    final_metadata["image_path"] = ""
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    final_metadata["db_id"] = -1
    for current_id, row in tqdm(final_metadata.iterrows(), total=len(final_metadata)):
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        video = row["video"]
        frame = row["frame"]
        camera_id = row["camera_id"]
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        current_image_path = video_output_folders[video].relpath(image_path) / video.stem + "_{:05d}.jpg".format(frame)
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        final_metadata.at[current_id, "image_path"] = current_image_path
        db_image_id = temp_database.add_image(current_image_path, int(camera_id))
        final_metadata.at[current_id, "db_id"] = db_image_id
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        if row["sampled"]:
            frame_qvec = row[["frame_quat_w",
                              "frame_quat_x",
                              "frame_quat_y",
                              "frame_quat_z"]].values
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            if True in pd.isnull(frame_qvec):
                frame_qvec = np.array([1, 0, 0, 0])
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            x, y, z = row[["x", "y", "z"]]
            frame_tvec = np.array([x, y, z])
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            if row["location_valid"] and not row['indoor']:
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                frame_gps = row[["location_longitude", "location_latitude", "location_altitude"]]
            else:
                frame_gps = np.full(3, np.NaN)

            world_qvec, world_tvec = world_coord_from_frame(frame_qvec, frame_tvec)
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            database.add_image(current_image_path, int(camera_id), prior_t=frame_gps, image_id=db_image_id)
            images[db_image_id] = rm.Image(id=db_image_id, qvec=world_qvec, tvec=world_tvec,
                                           camera_id=camera_id, name=current_image_path,
                                           xys=[], point3D_ids=[])
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    database.commit()
    database.close()
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    temp_database.commit()
    temp_database.close()
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    rm.write_model(colmap_cameras, images, {}, output_video_folder, "." + output_colmap_format)
    print("COLMAP model created")

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    thorough_georef, thorough_paths = get_georef(final_metadata[final_metadata["sampled"]])
    path_lists_output["thorough"] = {}
    path_lists_output["thorough"]["frames"] = thorough_paths
    path_lists_output["thorough"]["georef"] = thorough_georef
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    print("Extracting frames from videos")

    for v in tqdm(videos_list):
        video_metadata = final_metadata[final_metadata["video"] == v]
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        by_time = video_metadata.set_index(pd.to_datetime(video_metadata["time"], unit="us"))
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        video_folder = video_output_folders[v]
        video_metadata.to_csv(video_folder/"metadata.csv")
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        path_lists_output[v] = {}
        video_metadata_1fps = by_time.resample("{:.3f}S".format(1/fps)).first()
        georef, frame_paths = get_georef(video_metadata_1fps)
        path_lists_output[v]["frames_lowfps"] = frame_paths
        path_lists_output[v]["georef_lowfps"] = georef
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        num_chunks = len(video_metadata) // max_sequence_length + 1
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        chunks = [list(frames) for frames in np.array_split(video_metadata["image_path"],
                                                            num_chunks)]
        # Add some overlap between chunks, in order to ease the model merging afterwards
        for chunk, next_chunk in zip(chunks, chunks[1:]):
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            chunk.extend(next_chunk[:num_neighbours])
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        path_lists_output[v]["frames_full"] = chunks

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        if save_space:
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            frame_ids = set(video_metadata[video_metadata["sampled"]]["frame"].values) | \
                set(video_metadata_1fps["frame"].values)
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            frame_ids = sorted(list(frame_ids))
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            if len(frame_ids) > 0:
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                extracted_frames = env["ffmpeg"].extract_specific_frames(v, video_folder, frame_ids)
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        else:
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            extracted_frames = env["ffmpeg"].extract_images(v, video_folder)
        set_gps(extracted_frames, video_metadata, image_path)
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    return path_lists_output, video_output_folders


if __name__ == '__main__':
    args = parser.parse_args()
    env = vars(args)
    env["videos_list"] = sum((list(args.video_folder.walkfiles('*{}'.format(ext))) for ext in args.vid_ext), [])
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    output_video_folder = args.colmap_img_root / "Videos"
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    output_video_folder.makedirs_p()
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    env["image_path"] = args.colmap_img_root
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    env["output_video_folder"] = output_video_folder
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    env["existing_pictures"] = sum((list(args.colmap_img_root.walkfiles('*{}'.format(ext))) for ext in args.pic_ext), [])
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    env["pdraw"] = PDraw(args.nw, verbose=args.verbose)
    env["ffmpeg"] = FFMpeg(verbose=args.verbose)
    env["output_colmap_format"] = args.output_format
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    if args.centroid_path is not None:
        centroid = np.loadtxt(args.centroid_path)
    else:
        centroid = np.zeros(3)
    env["centroid"] = centroid
    lists, extracted_video_folders = process_video_folder(**env)

    if lists is not None:
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        with open(args.colmap_img_root/"video_frames_for_thorough_scan.txt", "w") as f:
            f.write("\n".join(lists["thorough"]["frames"]) + "\n")
        with open(args.colmap_img_root/"georef.txt", "w") as f:
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            f.write("\n".join(lists["thorough"]["georef"]))
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        for v in env["videos_list"]:
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            video_folder = extracted_video_folders[v]
            with open(video_folder / "lowfps.txt", "w") as f:
                f.write("\n".join(lists[v]["frames_lowfps"]) + "\n")
            with open(video_folder / "georef.txt", "w") as f:
                f.write("\n".join(lists["thorough"]["georef"]) + "\n")
                f.write("\n".join(lists[v]["georef_lowfps"]) + "\n")
            for j, l in enumerate(lists[v]["frames_full"]):
                with open(video_folder / "full_chunk_{}.txt".format(j), "w") as f:
                    f.write("\n".join(l) + "\n")