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162 lines
6.5 KiB
162 lines
6.5 KiB
# 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 a COLMAP database to the file structure to run Bundler.
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import os
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import argparse
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import sqlite3
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import shutil
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import gzip
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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("--image_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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try:
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os.makedirs(args.output_path)
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except:
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pass
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cameras = {}
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cursor.execute("SELECT camera_id, params FROM cameras;")
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for row in cursor:
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camera_id = row[0]
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params = np.fromstring(row[1], dtype=np.double)
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cameras[camera_id] = params
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images = {}
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with open(os.path.join(args.output_path, "list.txt"), "w") as fid:
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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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camera_id = row[1]
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image_name = row[2]
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print("Copying image", image_name)
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images[image_id] = (len(images), image_name)
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fid.write("./%s 0 %f\n" % (image_name, cameras[camera_id][0]))
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if not os.path.exists(os.path.join(args.output_path, image_name)):
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shutil.copyfile(os.path.join(args.image_path, image_name),
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os.path.join(args.output_path, image_name))
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for image_id, (image_idx, image_name) in images.iteritems():
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print("Exporting key file for", image_name)
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base_name, ext = os.path.splitext(image_name)
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key_file_name = os.path.join(args.output_path, base_name + ".key")
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key_file_name_gz = key_file_name + ".gz"
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if os.path.exists(key_file_name_gz):
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continue
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cursor.execute("SELECT data FROM keypoints WHERE image_id=?;",
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(image_id,))
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row = next(cursor)
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if row[0] is None:
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keypoints = np.zeros((0, 6), dtype=np.float32)
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descriptors = np.zeros((0, 128), dtype=np.uint8)
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else:
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keypoints = np.fromstring(row[0], dtype=np.float32).reshape(-1, 6)
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cursor.execute("SELECT data FROM descriptors WHERE image_id=?;",
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(image_id,))
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row = next(cursor)
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descriptors = np.fromstring(row[0], dtype=np.uint8).reshape(-1, 128)
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with open(key_file_name, "w") as fid:
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fid.write("%d %d\n" % (keypoints.shape[0], descriptors.shape[1]))
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for r in range(keypoints.shape[0]):
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fid.write("%f %f %f %f\n" % (keypoints[r, 1], keypoints[r, 0],
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keypoints[r, 2], keypoints[r, 3]))
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for i in range(0, 128, 20):
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desc_block = descriptors[r, i:i+20]
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fid.write(" ".join(map(str, desc_block.ravel().tolist())))
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fid.write("\n")
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with open(key_file_name, "rb") as fid_in:
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with gzip.open(key_file_name + ".gz", "wb") as fid_out:
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fid_out.writelines(fid_in)
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os.remove(key_file_name)
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with open(os.path.join(args.output_path, "matches.init.txt"), "w") as fid:
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cursor.execute("SELECT pair_id, data FROM two_view_geometries "
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"WHERE rows>=?;", (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_idx1 = images[image_id1][0]
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image_idx2 = images[image_id2][0]
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fid.write("%d %d\n%d\n" % (image_idx1, image_idx2,
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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" % (inlier_matches[i, 0],
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inlier_matches[i, 1]))
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with open(os.path.join(args.output_path, "run_bundler.sh"), "w") as fid:
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fid.write("bin/Bundler list.txt \\\n")
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fid.write("--run_bundle \\\n")
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fid.write("--use_focal_estimate \\\n")
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fid.write("--output_all bundle_ \\\n")
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fid.write("--constrain_focal \\\n")
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fid.write("--estimate_distortion \\\n")
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fid.write("--match_table matches.init.txt \\\n")
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fid.write("--variable_focal_length \\\n")
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fid.write("--output_dir bundle \\\n")
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fid.write("--output bundle.out \\\n")
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fid.write("--constrain_focal_weight 0.0001 \\\n")
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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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