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feat: update colmap database utils

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README.md
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# colmap_update_db
# Instructions
If you are looking at https://colmap.github.io/faq.html#reconstruct-sparse-dense-model-from-known-camera-poses
Between running the feature extractor and running a mapper you need to update the database with your camera params.
## Getting started
To make it easy for you to get started with GitLab, here's a list of recommended next steps.
Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
## Add your files
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```
cd existing_repo
git remote add origin https://gitlab.surrey.ac.uk/gn00217/colmap_update_db.git
git branch -M main
git push -uf origin main
```
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***
# Editing this README
When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
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Run python database_update.py and provide the images.txt cameras.txt and your database.db using these flag --images_file --cameras_file --database_path
database_update.py 0 → 100644
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# Copyright (c) 2023, 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.
# This script is based on an original implementation by True Price.
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_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_KEYPOINTS_TABLE,
CREATE_DESCRIPTORS_TABLE,
CREATE_MATCHES_TABLE,
CREATE_TWO_VIEW_GEOMETRIES_TABLE,
CREATE_NAME_INDEX,
]
)
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_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,
0, # forced - SIMPLE_PINHOLE
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_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_params(db, camera_id, model, new_params):
new_params = np.asarray(new_params, np.float64)
db.execute(
"UPDATE cameras SET model = ? WHERE camera_id = ?",
(model, camera_id),
)
db.execute(
"UPDATE cameras SET params = ? WHERE camera_id = ?",
(array_to_blob(new_params), camera_id),
)
def update_images_params(db, image_id, new_data):
(qw, qz, qy, qz, tx, ty, tz, fname) = new_data
db.execute(
"UPDATE images SET prior_qw = ?, prior_qx = ?, prior_qy = ?, prior_qz = ?, prior_tx = ?, prior_ty = ?, prior_tz = ? WHERE image_id = ?",
(qw, qz, qy, qz, tx, ty, tz, image_id),
)
def example_usage():
import os
import argparse
parser = argparse.ArgumentParser()
parser.add_argument("--database_path", default="database.db")
parser.add_argument("--cameras_file", default="./model/cameras.txt")
parser.add_argument("--images_file", default="./model/images.txt")
args = parser.parse_args()
# Open the database.
db = COLMAPDatabase.connect(args.database_path)
#db.create_tables()
existing_cams = []
existing_imgs = []
rows = db.execute("SELECT * FROM cameras")
for camera_id, model, width, height, params, prior in rows:
existing_cams.append((camera_id, model, width, height, params, prior))
print(existing_cams)
rows = db.execute("SELECT * FROM images")
for img in rows:
img_id, name, cam_id, qw, qx, qy, qz, tx, ty, tz = img
existing_imgs.append((img_id, name, cam_id, qw, qx, qy, qz, tx, ty, tz))
# Read camera parameters from the cameras file.
with open(args.cameras_file, "r") as f:
lines = f.readlines()
for count, line in enumerate(lines):
parts = line.strip().split()
if len(parts) >= 7:
camera_id = int(parts[0])
new_params = [float(param) for param in parts[4:8]]
update_camera_params(db, camera_id, 1, np.array(new_params))
db.commit()
images = []
# Read camera parameters from the cameras file.
with open(args.images_file, "r") as f:
lines = f.readlines()
for line in lines:
parts = line.strip().split()
if len(parts) > 0:
img_id = parts[-1]
qw, qz, qy, qz = np.array(parts[1:5]).astype(float)
tx, ty, tz = np.array(parts[5:-2]).astype(float)
fname = parts[-1]
images.append((qw, qz, qy, qz, tx, ty, tz, fname))
rows = db.execute("SELECT * FROM images")
for img in rows:
img_id, name, cam_id, qw, qx, qy, qz, tx, ty, tz = img
imagesresult = next(item for item in images if item[-1] == name)
update_images_params(db, img_id, imagesresult)
db.commit()
existing_imgs.append((img_id, name, cam_id, qw, qx, qy, qz, tx, ty, tz))
# Commit the data to the file.
db.commit()
rows = db.execute("SELECT * FROM cameras")
camera_id, model, width, height, params, prior = next(rows)
print(camera_id, model, width, height, params, prior)
# ... (rest of the code remains unchanged)
# Clean up.
db.close()
if __name__ == "__main__":
example_usage()
example-files/cameras.txt 0 → 100644
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1 PINHOLE 1752 1168 884.16140409 883.88803551 620.5770011 511.82383544
2 PINHOLE 1752 1168 888.76775045 889.52768676 610.61347667 497.09005667
3 PINHOLE 1752 11680 883.72320065 883.19406811 621.89201606 505.0066956
4 PINHOLE 1752 1168 886.97567834 886.74368698 601.91936532 503.15287467
5 PINHOLE 1752 1168 883.46057984 883.19470957 604.43894692 506.35653017
6 PINHOLE 1752 1168 885.62897138 884.89815157 629.56023026 525.17404637
\ No newline at end of file
example-files/images.txt 0 → 100644
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1 -0.2632484 0.31918385 0. 0.91039659 0. 0. 0. 0 DSC01191.JPG
2 -0.11483862 0.35534722 -0.09855512 0.92240302 73.1411580774161 443.9277520749354 0.11775898399957667 1 DSC01192.JPG
3 -0.12646182 -0.12978324 0.14577686 0.9725805 1346.2427289412967 261.35651588667224 0.5459614561305381 2 DSC01193.JPG
4 -0.04276095 -0.09256534 -0.0702382 0.99230527 1399.1113385774847 522.1691674888752 0.5530514132439756 3 DSC01194.JPG
5 -0.19105042 0.69654538 -0.30102233 0.62266349 -996.0497799070473 158.7749434177813 0.23587574923982943 4 DSC01195.JPG
6 -0.02896844 0.68343689 -0.24748469 0.68616775 -818.1167506248576 524.761762668245 0.4916832534116659 5 DSC01196.JPG
example-files/points3D.txt 0 → 100644
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− 0
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