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# Copyright (c) 2023, ETH Zurich and UNC Chapel Hill.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
#
# * Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution.
#
# * Neither the name of ETH Zurich and UNC Chapel Hill nor the names of
# its contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
# AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
# IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
# ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS OR CONTRIBUTORS BE
# LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
# CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
# SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
# INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
# CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
# ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import numpy as np
import argparse
from database import COLMAPDatabase
if __name__ == "__main__":
parser = argparse.ArgumentParser()
parser.add_argument("--database_path", type=str, required=True)
parser.add_argument("--is_cartesian", action="store_true")
parser.add_argument("--cleanup", action="store_true")
args = parser.parse_args()
db = COLMAPDatabase.connect(args.database_path)
pose_priors = {}
rows = db.execute("SELECT * FROM images")
for image_id, _, _, *cam_from_world_prior in rows:
if not cam_from_world_prior: # newer format database
continue
qvec = np.array(cam_from_world_prior[:4], dtype=float)
tvec = np.array(cam_from_world_prior[4:], dtype=float)
if np.isfinite(qvec).any():
print(
f"Warning: rotation prior for image {image_id} "
"will be lost during migration."
)
if np.isfinite(tvec).any():
pose_priors[image_id] = tvec
print(f"Found location priors for {len(pose_priors)} images.")
coordinate_systems = {"UNKNOWN": -1, "WGS84": 0, "CARTESIAN": 1}
coordinate_system = coordinate_systems[
"CARTESIAN" if args.is_cartesian else "WGS84"
]
db.create_pose_priors_table()
for image_id, position in pose_priors.items():
(exists,) = db.execute(
"SELECT COUNT(*) FROM pose_priors WHERE image_id = ?",
(image_id,),
).fetchone()
if exists:
print(f"Location prior for {image_id} already exists, skipping.")
continue
db.add_pose_prior(image_id, position, coordinate_system)
if args.cleanup:
for col in ["qw", "qx", "qy", "qz", "tx", "ty", "tz"]:
db.execute(f"ALTER TABLE images DROP COLUMN prior_{col}")
db.commit()
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