add matching mode flag in imgs2poses

this feature fixes a bug where linear videa images cause pose saving to fail.  now that different feature matching techniques can be specified, we can pass 'sequential_matcher' which results in success.  future work should accomodate other feature matching techniques

imgs2poses.py

@@ -3,9 +3,16 @@
 
 import argparse
 parser = argparse.ArgumentParser()
+parser.add_argument('--match_type', type=str, 
+					default='exhaustive_matcher', help='type of matcher used.  Valid options: \
+					exhaustive_matcher sequential_matcher.  Other matchers not supported at this time')
 parser.add_argument('scenedir', type=str,
                     help='input scene directory')
 args = parser.parse_args()
 
+if args.match_type != 'exhaustive_matcher' and args.match_type != 'sequential_matcher':
+	print('ERROR: matcher type ' + args.match_type + ' is not valid.  Aborting')
+	sys.exit()
+
 if __name__=='__main__':
-    gen_poses(args.scenedir)
+    gen_poses(args.scenedir, args.match_type)

llff/poses/colmap_wrapper.py

@@ -20,7 +20,7 @@
 #     --output_path $DATASET_PATH/sparse
 
 # $ mkdir $DATASET_PATH/dense
-def run_colmap(basedir):
+def run_colmap(basedir, match_type):
 
     logfile_name = os.path.join(basedir, 'colmap_output.txt')
     logfile = open(logfile_name, 'w')
@@ -35,11 +35,12 @@ def run_colmap(basedir):
     feat_output = ( subprocess.check_output(feature_extractor_args, universal_newlines=True) )
     logfile.write(feat_output)
     print('Features extracted')
-    
+
     exhaustive_matcher_args = [
-        'colmap', 'exhaustive_matcher', 
+        'colmap', match_type, 
             '--database_path', os.path.join(basedir, 'database.db'), 
     ]
+
     match_output = ( subprocess.check_output(exhaustive_matcher_args, universal_newlines=True) )
     logfile.write(match_output)
     print('Features matched')

llff/poses/pose_utils.py

@@ -60,6 +60,9 @@ def save_poses(basedir, poses, pts3d, perm):
         pts_arr.append(pts3d[k].xyz)
         cams = [0] * poses.shape[-1]
         for ind in pts3d[k].image_ids:
+            if len(cams) < ind - 1:
+                print('ERROR: the correct camera poses for current points cannot be accessed')
+                return
             cams[ind-1] = 1
         vis_arr.append(cams)
 
@@ -253,7 +256,7 @@ def imread(f):
 
 
 
-def gen_poses(basedir, factors=None):
+def gen_poses(basedir, match_type, factors=None):
 
     files_needed = ['{}.bin'.format(f) for f in ['cameras', 'images', 'points3D']]
     if os.path.exists(os.path.join(basedir, 'sparse/0')):
@@ -262,7 +265,7 @@ def gen_poses(basedir, factors=None):
         files_had = []
     if not all([f in files_had for f in files_needed]):
         print( 'Need to run COLMAP' )
-        run_colmap(basedir)
+        run_colmap(basedir, match_type)
     else:
         print('Don\'t need to run COLMAP')