| # Copyright (c) 2022, 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 | |
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| # | |
| # Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de) | |
| # 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() | |