1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
|
# 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 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)
keypoints = np.fromstring(row[0], dtype=np.float32).reshape(-1, 4)
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()
|
