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90 lines
3.3 KiB
90 lines
3.3 KiB
3 years ago
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# Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
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# All rights reserved.
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#
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# Redistribution and use in source and binary forms, with or without
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# modification, are permitted provided that the following conditions are met:
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#
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# * Redistributions of source code must retain the above copyright
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# notice, this list of conditions and the following disclaimer.
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#
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# * Redistributions in binary form must reproduce the above copyright
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# notice, this list of conditions and the following disclaimer in the
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# documentation and/or other materials provided with the distribution.
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#
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# * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
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# its contributors may be used to endorse or promote products derived
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# from this software without specific prior written permission.
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#
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# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
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# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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# POSSIBILITY OF SUCH DAMAGE.
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#
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# Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
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# This script exports inlier matches from a COLMAP database to a text file.
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import os
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import argparse
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import sqlite3
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import numpy as np
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def parse_args():
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parser = argparse.ArgumentParser()
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parser.add_argument("--database_path", required=True)
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parser.add_argument("--output_path", required=True)
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parser.add_argument("--min_num_matches", type=int, default=15)
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args = parser.parse_args()
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return args
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def pair_id_to_image_ids(pair_id):
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image_id2 = pair_id % 2147483647
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image_id1 = (pair_id - image_id2) / 2147483647
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return image_id1, image_id2
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def main():
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args = parse_args()
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connection = sqlite3.connect(args.database_path)
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cursor = connection.cursor()
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images = {}
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cursor.execute("SELECT image_id, camera_id, name FROM images;")
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for row in cursor:
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image_id = row[0]
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image_name = row[2]
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images[image_id] = image_name
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with open(os.path.join(args.output_path), "w") as fid:
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cursor.execute(
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"SELECT pair_id, data FROM two_view_geometries WHERE rows>=?;",
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(args.min_num_matches,))
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for row in cursor:
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pair_id = row[0]
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inlier_matches = np.fromstring(row[1],
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dtype=np.uint32).reshape(-1, 2)
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image_id1, image_id2 = pair_id_to_image_ids(pair_id)
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image_name1 = images[image_id1]
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image_name2 = images[image_id2]
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fid.write("%s %s %d\n" % (image_name1, image_name2,
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inlier_matches.shape[0]))
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for i in range(inlier_matches.shape[0]):
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fid.write("%d %d\n" % tuple(inlier_matches[i]))
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cursor.close()
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connection.close()
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if __name__ == "__main__":
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main()
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