colmap · ahojnnes · Apr 8, 2021 · Mar 7, 2021 · Mar 8, 2021 · Mar 9, 2021
diff --git a/src/exe/colmap.cc b/src/exe/colmap.cc
@@ -129,6 +129,7 @@ int main(int argc, char** argv) {
   commands.emplace_back("model_orientation_aligner",
                         &RunModelOrientationAligner);
   commands.emplace_back("model_splitter", &RunModelSplitter);
+  commands.emplace_back("model_transformer", &RunModelTransformer);
   commands.emplace_back("patch_match_stereo", &RunPatchMatchStereo);
   commands.emplace_back("point_filtering", &RunPointFiltering);
   commands.emplace_back("point_triangulator", &RunPointTriangulator);

diff --git a/src/exe/model.cc b/src/exe/model.cc
@@ -873,4 +873,52 @@ int RunModelSplitter(int argc, char** argv) {
   return EXIT_SUCCESS;
 }
 
+int RunModelTransformer(int argc, char** argv) {
+  std::string input_path;
+  std::string output_path;
+  std::string transform_path;
+  bool is_inverse = false;
+
+  OptionManager options;
+  options.AddRequiredOption("input_path", &input_path);
+  options.AddRequiredOption("output_path", &output_path);
+  options.AddRequiredOption("transform_path", &transform_path);
+  options.AddDefaultOption("is_inverse", &is_inverse);
+  options.Parse(argc, argv);
+
+  std::cout << "Reading points input: " << input_path << std::endl;
+  Reconstruction recon;
+  bool is_dense = false;
+  if (HasFileExtension(input_path, ".ply")) {
+    is_dense = true;
+    recon.ImportPLY(input_path);
+  } else if (ExistsDir(input_path)) {
+    recon.Read(input_path);
+  } else {
+    std::cerr << "Invalid model input; not a PLY file or sparse reconstruction "
+                 "directory."
+              << std::endl;
+    return EXIT_FAILURE;
+  }
+
+  std::cout << "Reading transform input: " << transform_path << std::endl;
+  SimilarityTransform3 tform = SimilarityTransform3::FromFile(transform_path);
+  if (is_inverse) {
+    tform = tform.Inverse();
+  }
+
+  std::cout << "Applying transform to recon with " << recon.NumPoints3D()
+            << " points" << std::endl;
+  recon.Transform(tform);
+
+  std::cout << "Writing output: " << output_path << std::endl;
+  if (is_dense) {
+    recon.ExportPLY(output_path);
+  } else {
+    recon.Write(output_path);
+  }
+
+  return EXIT_SUCCESS;
+}
+
 }  // namespace colmap
diff --git a/src/exe/model.h b/src/exe/model.h
@@ -39,5 +39,6 @@ int RunModelCropper(int argc, char** argv);
 int RunModelMerger(int argc, char** argv);
 int RunModelOrientationAligner(int argc, char** argv);
 int RunModelSplitter(int argc, char** argv);
+int RunModelTransformer(int argc, char** argv);
 
 }  // namespace colmap