| # Copyright (c), 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 argparse | |
| import numpy as np | |
| 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() | |