add extract_images.py

scripts/server/extract_images.py

@@ -0,0 +1,45 @@
+import os
+import cv2
+import numpy as np
+import sys
+from google.protobuf import message
+import mapper_pb2
+
+def save_images_from_feature_msgs(input_folder, output_folder):
+    # 确保输出文件夹存在
+    os.makedirs(output_folder, exist_ok=True)
+
+    # 遍历输入文件夹中的所有protobuf二进制文件
+    for filename in os.listdir(input_folder):
+        if filename.endswith('.bin'):
+            file_path = os.path.join(input_folder, filename)
+            with open(file_path, 'rb') as f:
+                feature_msg = mapper_pb2.FeatureMsg()
+                feature_msg.ParseFromString(f.read())
+
+                # 从FeatureMsg中提取ImageMsg
+                image_msg = feature_msg.image
+
+                # 将bytes数据转换为numpy array
+                image_data = np.frombuffer(image_msg.data, dtype=np.uint8)
+
+                # 重新调整形状
+                image_array = image_data.reshape((image_msg.height, image_msg.width, image_msg.channels))
+
+                # 将数据转换为适合OpenCV的格式
+                if image_msg.channels == 1:  # Grayscale
+                    image_array = cv2.cvtColor(image_array, cv2.COLOR_GRAY2BGR)
+                elif image_msg.channels == 3:  # RGB
+                    image_array = cv2.cvtColor(image_array, cv2.COLOR_RGB2BGR)
+
+                # 保存为JPEG文件
+                output_filename = os.path.join(output_folder, image_msg.name.decode('utf-8'))
+                cv2.imwrite(output_filename, image_array)
+                print(f"Saved: {output_filename}")
+
+if __name__ == "__main__":
+    # 从命令行参数获取输入和输出路径
+    protobuf_dir = sys.argv[1]
+    image_path = sys.argv[2]
+
+    save_images_from_feature_msgs(protobuf_dir, image_path)

scripts/server/sfm.sh

@@ -1,10 +1,11 @@
 #!/bin/sh
 
-
 PROTOBUF_PATH="$1"
 PROJECT="${PROTOBUF_PATH}/proj"
+IMAGE="${PROJECT}/images"
 
 mkdir -p ${PROJECT}
+mkdir -p ${IMAGE}
 
 log_time() {
     date "+%Y-%m-%d %H:%M:%S:%3N"
@@ -15,6 +16,9 @@ protoc --proto_path=/root/colmaptzt/colmap_detailed/scripts/server --python_out=
 echo "$(log_time) convert protobuf to database..."
 python3 /root/colmaptzt/colmap_detailed/scripts/server/database.py ${PROTOBUF_PATH} ${PROJECT}/database.db
 
+echo "$(log_time) convert protobuf to images..."
+python3 /root/colmaptzt/colmap_detailed/scripts/server/extract_images.py ${PROTOBUF_PATH} ${IMAGE}
+
 echo "$(log_time) feature matcher..."
 /root/colmap_detailed/build/src/colmap/exe/colmap sequential_matcher \
   --SequentialMatching.overlap 10  \
@@ -25,7 +29,7 @@ echo "$(log_time) feature exhaustive_matcher done."
 echo "$(log_time) glomap mapper..."
 /root/glomap/build/glomap/glomap mapper \
   --database_path ${PROJECT}/database.db \
-  --image_path ${PROJECT}/images \
+  --image_path ${IMAGE} \
   --output_path ${PROJECT}/sparse
 echo "$(log_time) glomap mapper done."