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# Copyright (c) 2018, 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.
#
# Author: Johannes L. Schoenberger (jsch at inf.ethz.ch)
# This script exports inlier matches from a COLMAP database to a text file.
import os
import argparse
import sqlite3
import numpy as np
def parse_args():
parser = argparse.ArgumentParser()
parser.add_argument("--database_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()
images = {}
cursor.execute("SELECT image_id, camera_id, name FROM images;")
for row in cursor:
image_id = row[0]
image_name = row[2]
images[image_id] = image_name
with open(os.path.join(args.output_path), "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_name1 = images[image_id1]
image_name2 = images[image_id2]
fid.write("%s %s %d\n" % (image_name1, image_name2,
inlier_matches.shape[0]))
for i in range(inlier_matches.shape[0]):
fid.write("%d %d\n" % tuple(inlier_matches[i]))
cursor.close()
connection.close()
if __name__ == "__main__":
main()
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