1# Copyright (c) 2018, ETH Zurich and UNC Chapel Hill.
2# All rights reserved.
3#
4# Redistribution and use in source and binary forms, with or without
5# modification, are permitted provided that the following conditions are met:
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8#       notice, this list of conditions and the following disclaimer.
9#
10#     * Redistributions in binary form must reproduce the above copyright
11#       notice, this list of conditions and the following disclaimer in the
12#       documentation and/or other materials provided with the distribution.
13#
14#     * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
15#       its contributors may be used to endorse or promote products derived
16#       from this software without specific prior written permission.
17#
18# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
19# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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29#
30# Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
31
32import numpy as np
33from read_write_model import read_model, write_model
34from tempfile import mkdtemp
35
36
37def compare_cameras(cameras1, cameras2):
38    assert len(cameras1) == len(cameras2)
39    for camera_id1 in cameras1:
40        camera1 = cameras1[camera_id1]
41        camera2 = cameras2[camera_id1]
42        assert camera1.id == camera2.id
43        assert camera1.width == camera2.width
44        assert camera1.height == camera2.height
45        assert np.allclose(camera1.params, camera2.params)
46
47
48def compare_images(images1, images2):
49    assert len(images1) == len(images2)
50    for image_id1 in images1:
51        image1 = images1[image_id1]
52        image2 = images2[image_id1]
53        assert image1.id == image2.id
54        assert np.allclose(image1.qvec, image2.qvec)
55        assert np.allclose(image1.tvec, image2.tvec)
56        assert image1.camera_id == image2.camera_id
57        assert image1.name == image2.name
58        assert np.allclose(image1.xys, image2.xys)
59        assert np.array_equal(image1.point3D_ids, image2.point3D_ids)
60
61
62def compare_points(points3D1, points3D2):
63    for point3D_id1 in points3D1:
64        point3D1 = points3D1[point3D_id1]
65        point3D2 = points3D2[point3D_id1]
66        assert point3D1.id == point3D2.id
67        assert np.allclose(point3D1.xyz, point3D2.xyz)
68        assert np.array_equal(point3D1.rgb, point3D2.rgb)
69        assert np.allclose(point3D1.error, point3D2.error)
70        assert np.array_equal(point3D1.image_ids, point3D2.image_ids)
71        assert np.array_equal(point3D1.point2D_idxs, point3D2.point2D_idxs)
72
73
74def main():
75    import sys
76    if len(sys.argv) != 3:
77        print("Usage: python read_model.py "
78              "path/to/model/folder/txt path/to/model/folder/bin")
79        return
80
81    print("Comparing text and binary models ...")
82
83    path_to_model_txt_folder = sys.argv[1]
84    path_to_model_bin_folder = sys.argv[2]
85    cameras_txt, images_txt, points3D_txt = \
86        read_model(path_to_model_txt_folder, ext=".txt")
87    cameras_bin, images_bin, points3D_bin = \
88        read_model(path_to_model_bin_folder, ext=".bin")
89    compare_cameras(cameras_txt, cameras_bin)
90    compare_images(images_txt, images_bin)
91    compare_points(points3D_txt, points3D_bin)
92
93    print("... text and binary models are equal.")
94    print("Saving text model and reloading it ...")
95
96    tmpdir = mkdtemp()
97    write_model(cameras_bin, images_bin, points3D_bin, tmpdir, ext='.txt')
98    cameras_txt, images_txt, points3D_txt = \
99        read_model(tmpdir, ext=".txt")
100    compare_cameras(cameras_txt, cameras_bin)
101    compare_images(images_txt, images_bin)
102    compare_points(points3D_txt, points3D_bin)
103
104    print("... saved text and loaded models are equal.")
105    print("Saving binary model and reloading it ...")
106
107    write_model(cameras_bin, images_bin, points3D_bin, tmpdir, ext='.bin')
108    cameras_bin, images_bin, points3D_bin = \
109        read_model(tmpdir, ext=".bin")
110    compare_cameras(cameras_txt, cameras_bin)
111    compare_images(images_txt, images_bin)
112    compare_points(points3D_txt, points3D_bin)
113
114    print("... saved binary and loaded models are equal.")
115
116
117if __name__ == "__main__":
118    main()
119