# Copyright (c) 2022, ETH Zurich and UNC Chapel Hill.
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# Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
# This script exports a COLMAP database to the file structure to run Bundler.
import os
import argparse
import sqlite3
import shutil
import gzip
import numpy as np
def parse_args():
parser = argparse.ArgumentParser()
parser.add_argument("--database_path", required=True)
parser.add_argument("--image_path", required=True)
parser.add_argument("--output_path", required=True)
parser.add_argument("--min_num_matches", type=int, default=15)
args = parser.parse_args()
return args
def pair_id_to_image_ids(pair_id):
image_id2 = pair_id % 2147483647
image_id1 = (pair_id - image_id2) / 2147483647
return image_id1, image_id2
def main():
args = parse_args()
connection = sqlite3.connect(args.database_path)
cursor = connection.cursor()
try:
os.makedirs(args.output_path)
except:
pass
cameras = {}
cursor.execute("SELECT camera_id, params FROM cameras;")
for row in cursor:
camera_id = row[0]
params = np.fromstring(row[1], dtype=np.double)
cameras[camera_id] = params
images = {}
with open(os.path.join(args.output_path, "list.txt"), "w") as fid:
cursor.execute("SELECT image_id, camera_id, name FROM images;")
for row in cursor:
image_id = row[0]
camera_id = row[1]
image_name = row[2]
print("Copying image", image_name)
images[image_id] = (len(images), image_name)
fid.write("./%s 0 %f\n" % (image_name, cameras[camera_id][0]))
if not os.path.exists(os.path.join(args.output_path, image_name)):
shutil.copyfile(os.path.join(args.image_path, image_name),
os.path.join(args.output_path, image_name))
for image_id, (image_idx, image_name) in images.iteritems():
print("Exporting key file for", image_name)
base_name, ext = os.path.splitext(image_name)
key_file_name = os.path.join(args.output_path, base_name + ".key")
key_file_name_gz = key_file_name + ".gz"
if os.path.exists(key_file_name_gz):
continue
cursor.execute("SELECT data FROM keypoints WHERE image_id=?;",
(image_id,))
row = next(cursor)
if row[0] is None:
keypoints = np.zeros((0, 6), dtype=np.float32)
descriptors = np.zeros((0, 128), dtype=np.uint8)
else:
keypoints = np.fromstring(row[0], dtype=np.float32).reshape(-1, 6)
cursor.execute("SELECT data FROM descriptors WHERE image_id=?;",
(image_id,))
row = next(cursor)
descriptors = np.fromstring(row[0], dtype=np.uint8).reshape(-1, 128)
with open(key_file_name, "w") as fid:
fid.write("%d %d\n" % (keypoints.shape[0], descriptors.shape[1]))
for r in range(keypoints.shape[0]):
fid.write("%f %f %f %f\n" % (keypoints[r, 1], keypoints[r, 0],
keypoints[r, 2], keypoints[r, 3]))
for i in range(0, 128, 20):
desc_block = descriptors[r, i:i+20]
fid.write(" ".join(map(str, desc_block.ravel().tolist())))
fid.write("\n")
with open(key_file_name, "rb") as fid_in:
with gzip.open(key_file_name + ".gz", "wb") as fid_out:
fid_out.writelines(fid_in)
os.remove(key_file_name)
with open(os.path.join(args.output_path, "matches.init.txt"), "w") as fid:
cursor.execute("SELECT pair_id, data FROM two_view_geometries "
"WHERE rows>=?;", (args.min_num_matches,))
for row in cursor:
pair_id = row[0]
inlier_matches = np.fromstring(row[1],
dtype=np.uint32).reshape(-1, 2)
image_id1, image_id2 = pair_id_to_image_ids(pair_id)
image_idx1 = images[image_id1][0]
image_idx2 = images[image_id2][0]
fid.write("%d %d\n%d\n" % (image_idx1, image_idx2,
inlier_matches.shape[0]))
for i in range(inlier_matches.shape[0]):
fid.write("%d %d\n" % (inlier_matches[i, 0],
inlier_matches[i, 1]))
with open(os.path.join(args.output_path, "run_bundler.sh"), "w") as fid:
fid.write("bin/Bundler list.txt \\\n")
fid.write("--run_bundle \\\n")
fid.write("--use_focal_estimate \\\n")
fid.write("--output_all bundle_ \\\n")
fid.write("--constrain_focal \\\n")
fid.write("--estimate_distortion \\\n")
fid.write("--match_table matches.init.txt \\\n")
fid.write("--variable_focal_length \\\n")
fid.write("--output_dir bundle \\\n")
fid.write("--output bundle.out \\\n")
fid.write("--constrain_focal_weight 0.0001 \\\n")
cursor.close()
connection.close()
if __name__ == "__main__":
main()