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
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
| import os
import sys
import sqlite3
import numpy as np
IS_PYTHON3 = sys.version_info[0] >= 3
MAX_IMAGE_ID = 2**31 - 1
CREATE_CAMERAS_TABLE = """CREATE TABLE IF NOT EXISTS cameras (
camera_id INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL,
model INTEGER NOT NULL,
width INTEGER NOT NULL,
height INTEGER NOT NULL,
params BLOB,
prior_focal_length INTEGER NOT NULL)"""
CREATE_DESCRIPTORS_TABLE = """CREATE TABLE IF NOT EXISTS descriptors (
image_id INTEGER PRIMARY KEY NOT NULL,
rows INTEGER NOT NULL,
cols INTEGER NOT NULL,
data BLOB,
FOREIGN KEY(image_id) REFERENCES images(image_id) ON DELETE CASCADE)"""
CREATE_IMAGES_TABLE = """CREATE TABLE IF NOT EXISTS images (
image_id INTEGER PRIMARY KEY AUTOINCREMENT NOT NULL,
name TEXT NOT NULL UNIQUE,
camera_id INTEGER NOT NULL,
prior_qw REAL,
prior_qx REAL,
prior_qy REAL,
prior_qz REAL,
prior_tx REAL,
prior_ty REAL,
prior_tz REAL,
CONSTRAINT image_id_check CHECK(image_id >= 0 and image_id < {}),
FOREIGN KEY(camera_id) REFERENCES cameras(camera_id))
""".format(
MAX_IMAGE_ID
)
CREATE_POSE_PRIORS_TABLE = """CREATE TABLE IF NOT EXISTS pose_priors (
image_id INTEGER PRIMARY KEY NOT NULL,
position BLOB,
coordinate_system INTEGER NOT NULL,
FOREIGN KEY(image_id) REFERENCES images(image_id) ON DELETE CASCADE)"""
CREATE_TWO_VIEW_GEOMETRIES_TABLE = """
CREATE TABLE IF NOT EXISTS two_view_geometries (
pair_id INTEGER PRIMARY KEY NOT NULL,
rows INTEGER NOT NULL,
cols INTEGER NOT NULL,
data BLOB,
config INTEGER NOT NULL,
F BLOB,
E BLOB,
H BLOB,
qvec BLOB,
tvec BLOB)
"""
CREATE_KEYPOINTS_TABLE = """CREATE TABLE IF NOT EXISTS keypoints (
image_id INTEGER PRIMARY KEY NOT NULL,
rows INTEGER NOT NULL,
cols INTEGER NOT NULL,
data BLOB,
FOREIGN KEY(image_id) REFERENCES images(image_id) ON DELETE CASCADE)
"""
CREATE_MATCHES_TABLE = """CREATE TABLE IF NOT EXISTS matches (
pair_id INTEGER PRIMARY KEY NOT NULL,
rows INTEGER NOT NULL,
cols INTEGER NOT NULL,
data BLOB)"""
CREATE_NAME_INDEX = "CREATE UNIQUE INDEX IF NOT EXISTS index_name ON images(name)"
CREATE_ALL = "; ".join(
[
CREATE_CAMERAS_TABLE,
CREATE_IMAGES_TABLE,
CREATE_POSE_PRIORS_TABLE,
CREATE_KEYPOINTS_TABLE,
CREATE_DESCRIPTORS_TABLE,
CREATE_MATCHES_TABLE,
CREATE_TWO_VIEW_GEOMETRIES_TABLE,
CREATE_NAME_INDEX,
]
)
CAM_MODEL_DICT = {
"SIMPLE_PINHOLE": 0,
"PINHOLE": 1,
"SIMPLE_RADIAL": 2,
"RADIAL": 3,
"OPENCV": 4,
"FULL_OPENCV": 5,
"SIMPLE_RADIAL_FISHEYE": 6,
"RADIAL_FISHEYE": 7,
"OPENCV_FISHEYE": 8,
"FOV": 9,
"THIN_PRISM_FISHEYE": 10,
}
def image_ids_to_pair_id(image_id1, image_id2):
if image_id1 > image_id2:
image_id1, image_id2 = image_id2, image_id1
return image_id1 * MAX_IMAGE_ID + image_id2
def pair_id_to_image_ids(pair_id):
image_id2 = pair_id % MAX_IMAGE_ID
image_id1 = (pair_id - image_id2) / MAX_IMAGE_ID
return image_id1, image_id2
def array_to_blob(array):
if IS_PYTHON3:
return array.tostring()
else:
return np.getbuffer(array)
def blob_to_array(blob, dtype, shape=(-1,)):
if IS_PYTHON3:
return np.fromstring(blob, dtype=dtype).reshape(*shape)
else:
return np.frombuffer(blob, dtype=dtype).reshape(*shape)
class COLMAPDatabase(sqlite3.Connection):
@staticmethod
def connect(database_path):
return sqlite3.connect(database_path, factory=COLMAPDatabase)
def __init__(self, *args, **kwargs):
super(COLMAPDatabase, self).__init__(*args, **kwargs)
self.create_tables = lambda: self.executescript(CREATE_ALL)
self.create_cameras_table = lambda: self.executescript(CREATE_CAMERAS_TABLE)
self.create_descriptors_table = lambda: self.executescript(
CREATE_DESCRIPTORS_TABLE
)
self.create_images_table = lambda: self.executescript(CREATE_IMAGES_TABLE)
self.create_pose_priors_table = lambda: self.executescript(
CREATE_POSE_PRIORS_TABLE
)
self.create_two_view_geometries_table = lambda: self.executescript(
CREATE_TWO_VIEW_GEOMETRIES_TABLE
)
self.create_keypoints_table = lambda: self.executescript(CREATE_KEYPOINTS_TABLE)
self.create_matches_table = lambda: self.executescript(CREATE_MATCHES_TABLE)
self.create_name_index = lambda: self.executescript(CREATE_NAME_INDEX)
def add_camera(
self,
model,
width,
height,
params,
prior_focal_length=False,
camera_id=None,
):
params = np.asarray(params, np.float64)
cursor = self.execute(
"INSERT INTO cameras VALUES (?, ?, ?, ?, ?, ?)",
(
camera_id,
model,
width,
height,
array_to_blob(params),
prior_focal_length,
),
)
return cursor.lastrowid
def add_image(
self,
name,
camera_id,
prior_q=np.full(4, np.nan),
prior_t=np.full(3, np.nan),
image_id=None,
):
cursor = self.execute(
"INSERT INTO images VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?)",
(
image_id,
name,
camera_id,
prior_q[0],
prior_q[1],
prior_q[2],
prior_q[3],
prior_t[0],
prior_t[1],
prior_t[2],
),
)
return cursor.lastrowid
def add_pose_prior(self, image_id, position, coordinate_system=-1):
position = np.asarray(position, dtype=np.float64)
self.execute(
"INSERT INTO pose_priors VALUES (?, ?, ?)",
(image_id, array_to_blob(position), coordinate_system),
)
def add_keypoints(self, image_id, keypoints):
assert len(keypoints.shape) == 2
assert keypoints.shape[1] in [2, 4, 6]
keypoints = np.asarray(keypoints, np.float32)
self.execute(
"INSERT INTO keypoints VALUES (?, ?, ?, ?)",
(image_id,) + keypoints.shape + (array_to_blob(keypoints),),
)
def add_descriptors(self, image_id, descriptors):
descriptors = np.ascontiguousarray(descriptors, np.uint8)
self.execute(
"INSERT INTO descriptors VALUES (?, ?, ?, ?)",
(image_id,) + descriptors.shape + (array_to_blob(descriptors),),
)
def add_matches(self, image_id1, image_id2, matches):
assert len(matches.shape) == 2
assert matches.shape[1] == 2
if image_id1 > image_id2:
matches = matches[:, ::-1]
pair_id = image_ids_to_pair_id(image_id1, image_id2)
matches = np.asarray(matches, np.uint32)
self.execute(
"INSERT INTO matches VALUES (?, ?, ?, ?)",
(pair_id,) + matches.shape + (array_to_blob(matches),),
)
def add_two_view_geometry(
self,
image_id1,
image_id2,
matches,
F=np.eye(3),
E=np.eye(3),
H=np.eye(3),
qvec=np.array([1.0, 0.0, 0.0, 0.0]),
tvec=np.zeros(3),
config=2,
):
assert len(matches.shape) == 2
assert matches.shape[1] == 2
if image_id1 > image_id2:
matches = matches[:, ::-1]
pair_id = image_ids_to_pair_id(image_id1, image_id2)
matches = np.asarray(matches, np.uint32)
F = np.asarray(F, dtype=np.float64)
E = np.asarray(E, dtype=np.float64)
H = np.asarray(H, dtype=np.float64)
qvec = np.asarray(qvec, dtype=np.float64)
tvec = np.asarray(tvec, dtype=np.float64)
self.execute(
"INSERT INTO two_view_geometries VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?, ?)",
(pair_id,)
+ matches.shape
+ (
array_to_blob(matches),
config,
array_to_blob(F),
array_to_blob(E),
array_to_blob(H),
array_to_blob(qvec),
array_to_blob(tvec),
),
)
def update_camera(self, model, width, height, params, camera_id=None):
params = np.asarray(params, np.float64)
cursor = self.execute(
"UPDATE cameras SET model=?, width=?, height=?, params=?, prior_focal_length=True WHERE camera_id=?",
(model, width, height, array_to_blob(params), camera_id),
)
return cursor.lastrowid
def export_images_list(self):
rows = self.execute("SELECT image_id, name FROM images").fetchall()
result = [list(row) for row in rows]
return result
class CameraParam:
def __init__(self, params_line):
params = params_line.split(" ")
self.camera_id = int(params[0])
camera_model = str(params[1])
self.model = CAM_MODEL_DICT[camera_model]
self.width = int(params[2])
self.height = int(params[3])
self.params = np.array([float(i) for i in params[4:]])
class ImageParam:
def __init__(self, params_line):
params = params_line.split(" ")
self.image_id = int(params[0])
self.prior_q = np.array([float(i) for i in params[1:5]])
self.prior_t = np.array([float(i) for i in params[5:8]])
self.camera_id = int(params[8])
self.name = params[9]
def export_images_txt_from_database(colmap_project_path):
database_path = os.path.join(colmap_project_path, "database.db")
db = COLMAPDatabase.connect(database_path)
result = db.export_images_list()
db.close()
return result
def update_database_from_exist_param(colmap_project_path):
database_path = os.path.join(colmap_project_path, "database.db")
db = COLMAPDatabase.connect(database_path)
cameras_txt_path = os.path.join(colmap_project_path, "cameras.txt")
assert os.path.exists(cameras_txt_path)
with open(cameras_txt_path, "r") as f:
for line in f.readlines():
camera_param = CameraParam(line)
db.update_camera(
model=camera_param.model,
width=camera_param.width,
height=camera_param.height,
params=camera_param.params,
camera_id=camera_param.camera_id,
)
db.commit()
db.close()
|