| """ |
| Module: VSLAM-LAB - Baselines - colmap - create_colmap_mask_dir.py |
| - Author: Alejandro Fontan Villacampa |
| - Assisted by: Claude (Fable 5) |
| - Version: 1.0 |
| - Created: 2026-08-28 |
| - Updated: 2026-08-28 |
| - License: GPLv3 License |
| |
| Turns the path_mask_<i> column of an rgb_exp.csv (written by the run pipeline for |
| 'segmentation: mask2former', 'refraction: refrax', or datasets that ship masks; 1 = usable pixel, |
| 0 = masked out, which is COLMAP's own convention: no features where the mask is 0) into what |
| colmap feature_extractor accepts, and prints one line the calling shell script evals: |
| camera_mask:<png> every frame shares one mask (refrax's mask.png) -> --ImageReader.camera_mask_path |
| mask_dir:<dir> per-frame masks -> --ImageReader.mask_path: <dir>/<image name>.png symlinks, |
| one per frame (COLMAP looks masks up by image name + '.png') |
| none the csv has no mask column for this camera (or a mask file is missing) |
| """ |
|
|
| import argparse |
| import os |
| from pathlib import Path |
|
|
| import pandas as pd |
|
|
|
|
| def create_colmap_mask_dir(rgb_csv: str, camera_name: str, sequence_path: str, mask_dir: str) -> str: |
| df = pd.read_csv(rgb_csv) |
| cam_idx = camera_name.rsplit("_", 1)[-1] |
| mask_col, path_col = f"path_mask_{cam_idx}", f"path_{camera_name}" |
| if mask_col not in df.columns: |
| print(f" no '{mask_col}' column in {os.path.basename(rgb_csv)}; extracting features without masks") |
| return "none" |
|
|
| masks = [Path(sequence_path) / p for p in df[mask_col]] |
| missing = [m for m in masks if not m.exists()] |
| if missing: |
| print(f" {len(missing)}/{len(masks)} mask files missing (e.g. {missing[0]}); extracting features without masks") |
| return "none" |
|
|
| if len(set(masks)) == 1: |
| return f"camera_mask:{masks[0].resolve()}" |
|
|
| mask_dir = Path(mask_dir) |
| mask_dir.mkdir(parents=True, exist_ok=True) |
| for image, mask in zip(df[path_col], masks): |
| link = mask_dir / f"{os.path.basename(image)}.png" |
| if link.is_symlink() or link.exists(): |
| link.unlink() |
| os.symlink(mask.resolve(), link) |
| return f"mask_dir:{mask_dir.resolve()}" |
|
|
|
|
| if __name__ == "__main__": |
| parser = argparse.ArgumentParser() |
| parser.add_argument("rgb_csv", help="Path to the experiment's rgb csv") |
| parser.add_argument("camera_name", help="camera_name (e.g. rgb_0)") |
| parser.add_argument("sequence_path", help="Sequence folder the csv paths are relative to") |
| parser.add_argument("mask_dir", help="Where to build the per-frame mask directory if needed") |
| args = parser.parse_args() |
| print(create_colmap_mask_dir(args.rgb_csv, args.camera_name, args.sequence_path, args.mask_dir)) |
|
|
