beverley-gorry/colmap-vslamlab
0
1# Copyright (c), ETH Zurich and UNC Chapel Hill.2# All rights reserved.3#4# Redistribution and use in source and binary forms, with or without5# modification, are permitted provided that the following conditions are met:6#7# * Redistributions of source code must retain the above copyright8# notice, this list of conditions and the following disclaimer.9#10# * Redistributions in binary form must reproduce the above copyright11# notice, this list of conditions and the following disclaimer in the12# documentation and/or other materials provided with the distribution.13#14# * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of15# its contributors may be used to endorse or promote products derived16# from this software without specific prior written permission.17#18# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"19# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE20# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE21# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE22# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR23# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF24# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS25# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN26# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)27# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE28# POSSIBILITY OF SUCH DAMAGE.29 30 31# This script exports a COLMAP database to the file structure to run Bundler.32 33import argparse34import gzip35import os36import shutil37import sqlite338 39import numpy as np40 41 42def parse_args():43 parser = argparse.ArgumentParser()44 parser.add_argument("--database_path", required=True)45 parser.add_argument("--image_path", required=True)46 parser.add_argument("--output_path", required=True)47 parser.add_argument("--min_num_matches", type=int, default=15)48 args = parser.parse_args()49 return args50 51 52def pair_id_to_image_ids(pair_id):53 image_id2 = pair_id % 214748364754 image_id1 = (pair_id - image_id2) / 214748364755 return image_id1, image_id256 57 58def main():59 args = parse_args()60 61 connection = sqlite3.connect(args.database_path)62 cursor = connection.cursor()63 64 try:65 os.makedirs(args.output_path)66 except: # noqa E72267 pass68 69 cameras = {}70 cursor.execute("SELECT camera_id, params FROM cameras;")71 for row in cursor:72 camera_id = row[0]73 params = np.fromstring(row[1], dtype=np.double)74 cameras[camera_id] = params75 76 images = {}77 with open(os.path.join(args.output_path, "list.txt"), "w") as fid:78 cursor.execute("SELECT image_id, camera_id, name FROM images;")79 for row in cursor:80 image_id = row[0]81 camera_id = row[1]82 image_name = row[2]83 print("Copying image", image_name)84 images[image_id] = (len(images), image_name)85 fid.write("./%s 0 %f\n" % (image_name, cameras[camera_id][0]))86 if not os.path.exists(os.path.join(args.output_path, image_name)):87 shutil.copyfile(88 os.path.join(args.image_path, image_name),89 os.path.join(args.output_path, image_name),90 )91 92 for image_id, (image_idx, image_name) in images.iteritems():93 print("Exporting key file for", image_name)94 base_name, ext = os.path.splitext(image_name)95 key_file_name = os.path.join(args.output_path, base_name + ".key")96 key_file_name_gz = key_file_name + ".gz"97 if os.path.exists(key_file_name_gz):98 continue99 100 cursor.execute(101 "SELECT data FROM keypoints WHERE image_id=?;", (image_id,)102 )103 row = next(cursor)104 if row[0] is None:105 keypoints = np.zeros((0, 6), dtype=np.float32)106 descriptors = np.zeros((0, 128), dtype=np.uint8)107 else:108 keypoints = np.fromstring(row[0], dtype=np.float32).reshape(-1, 6)109 cursor.execute(110 "SELECT data FROM descriptors WHERE image_id=?;", (image_id,)111 )112 row = next(cursor)113 descriptors = np.fromstring(row[0], dtype=np.uint8).reshape(-1, 128)114 115 with open(key_file_name, "w") as fid:116 fid.write("%d %d\n" % (keypoints.shape[0], descriptors.shape[1]))117 for r in range(keypoints.shape[0]):118 fid.write(119 "%f %f %f %f\n"120 % (121 keypoints[r, 1],122 keypoints[r, 0],123 keypoints[r, 2],124 keypoints[r, 3],125 )126 )127 for i in range(0, 128, 20):128 desc_block = descriptors[r, i : i + 20]129 fid.write(" ".join(map(str, desc_block.ravel().tolist())))130 fid.write("\n")131 132 with open(key_file_name, "rb") as fid_in:133 with gzip.open(key_file_name + ".gz", "wb") as fid_out:134 fid_out.writelines(fid_in)135 136 os.remove(key_file_name)137 138 with open(os.path.join(args.output_path, "matches.init.txt"), "w") as fid:139 cursor.execute(140 "SELECT pair_id, data FROM two_view_geometries WHERE rows>=?;",141 (args.min_num_matches,),142 )143 for row in cursor:144 pair_id = row[0]145 inlier_matches = np.fromstring(row[1], dtype=np.uint32).reshape(146 -1, 2147 )148 image_id1, image_id2 = pair_id_to_image_ids(pair_id)149 image_idx1 = images[image_id1][0]150 image_idx2 = images[image_id2][0]151 fid.write(152 "%d %d\n%d\n"153 % (image_idx1, image_idx2, inlier_matches.shape[0])154 )155 for i in range(inlier_matches.shape[0]):156 fid.write(157 "%d %d\n" % (inlier_matches[i, 0], inlier_matches[i, 1])158 )159 160 with open(os.path.join(args.output_path, "run_bundler.sh"), "w") as fid:161 fid.write("bin/Bundler list.txt \\\n")162 fid.write("--run_bundle \\\n")163 fid.write("--use_focal_estimate \\\n")164 fid.write("--output_all bundle_ \\\n")165 fid.write("--constrain_focal \\\n")166 fid.write("--estimate_distortion \\\n")167 fid.write("--match_table matches.init.txt \\\n")168 fid.write("--variable_focal_length \\\n")169 fid.write("--output_dir bundle \\\n")170 fid.write("--output bundle.out \\\n")171 fid.write("--constrain_focal_weight 0.0001 \\\n")172 173 cursor.close()174 connection.close()175 176 177if __name__ == "__main__":178 main()179