forked from ahojnnes/local-feature-evaluation
-
Notifications
You must be signed in to change notification settings - Fork 0
Commit
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
- Loading branch information
Showing
1 changed file
with
102 additions
and
0 deletions.
There are no files selected for viewing
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,102 @@ | ||
# Import the features and matches into a COLMAP database. | ||
# | ||
# Copyright 2017: Johannes L. Schoenberger <jsch at inf.ethz.ch> | ||
|
||
from __future__ import print_function, division | ||
|
||
import os | ||
import glob | ||
import argparse | ||
import sqlite3 | ||
import numpy as np | ||
|
||
|
||
def parse_args(): | ||
parser = argparse.ArgumentParser() | ||
parser.add_argument("--dataset_path", required=True) | ||
args = parser.parse_args() | ||
return args | ||
|
||
|
||
def image_ids_to_pair_id(image_id1, image_id2): | ||
if image_id1 > image_id2: | ||
return 2147483647 * image_id2 + image_id1 | ||
else: | ||
return 2147483647 * image_id1 + image_id2 | ||
|
||
|
||
def read_matrix(path, dtype): | ||
with open(path, "rb") as fid: | ||
shape = np.fromfile(fid, count=2, dtype=np.int32) | ||
matrix = np.fromfile(fid, count=shape[0] * shape[1], dtype=dtype) | ||
return matrix.reshape(shape) | ||
|
||
|
||
def main(): | ||
args = parse_args() | ||
|
||
connection = sqlite3.connect(os.path.join(args.dataset_path, "database.db")) | ||
cursor = connection.cursor() | ||
|
||
cursor.execute("DELETE FROM keypoints;") | ||
cursor.execute("DELETE FROM descriptors;") | ||
cursor.execute("DELETE FROM matches;") | ||
cursor.execute("DELETE FROM inlier_matches;") | ||
connection.commit() | ||
|
||
images = {} | ||
cursor.execute("SELECT name, image_id FROM images;") | ||
for row in cursor: | ||
images[row[0]] = row[1] | ||
|
||
for image_name, image_id in images.items(): | ||
print("Importing features for", image_name) | ||
keypoint_path = os.path.join(args.dataset_path, "keypoints", | ||
image_name + ".bin") | ||
keypoints = read_matrix(keypoint_path, np.float32) | ||
descriptor_path = os.path.join(args.dataset_path, "descriptors", | ||
image_name + ".bin") | ||
descriptors = read_matrix(descriptor_path, np.float32) | ||
assert keypoints.shape[1] == 4 | ||
assert keypoints.shape[0] == descriptors.shape[0] | ||
if IS_PYTHON3: | ||
keypoints_str = keypoints.tostring() | ||
else: | ||
keypoints_str = np.getbuffer(keypoints) | ||
cursor.execute("INSERT INTO keypoints(image_id, rows, cols, data) " | ||
"VALUES(?, ?, ?, ?);", | ||
(image_id, keypoints.shape[0], keypoints.shape[1], | ||
keypoints_str))) | ||
connection.commit() | ||
|
||
image_pairs = [] | ||
for match_path in glob.glob(os.path.join(args.dataset_path, | ||
"matches/*---*.bin")): | ||
image_name1, image_name2 = \ | ||
os.path.basename(match_path[:-4]).split("---") | ||
image_pairs.append((image_name1, image_name2)) | ||
print("Importing matches for", image_name1, "---", image_name2) | ||
image_id1, image_id2 = images[image_name1], images[image_name2] | ||
image_pair_id = image_ids_to_pair_id(image_id1, image_id2) | ||
matches = read_matrix(match_path, np.uint32) | ||
assert matches.shape[1] == 2 | ||
if IS_PYTHON3: | ||
matches_str = matches.tostring() | ||
else: | ||
matches_str = np.getbuffer(matches) | ||
cursor.execute("INSERT INTO matches(pair_id, rows, cols, data) " | ||
"VALUES(?, ?, ?, ?);", | ||
(image_pair_id, matches.shape[0], matches.shape[1], | ||
matches_str)) | ||
connection.commit() | ||
|
||
with open(os.path.join(args.dataset_path, "image-pairs.txt"), "w") as fid: | ||
for image_name1, image_name2 in image_pairs: | ||
fid.write("{} {}\n".format(image_name1, image_name2)) | ||
|
||
cursor.close() | ||
connection.close() | ||
|
||
|
||
if __name__ == "__main__": | ||
main() |