Add missing colmap_import.py script

scripts/colmap_import.py

@@ -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()