parser = argparse.ArgumentParser()

parser.add_argument("--database_path", required=True)

parser.add_argument("--image_path", required=True)

parser.add_argument("--output_path", required=True)

parser.add_argument("--min_num_matches", type=int, default=15)

args = parser.parse_args()

args = parse_args()

connection = sqlite3.connect(args.database_path)

cursor = connection.cursor()

try:

os.makedirs(args.output_path)

except:

pass

cameras = {}

cursor.execute("SELECT camera_id, params FROM cameras;")

for row in cursor:

camera_id = row[0]

params = np.fromstring(row[1], dtype=np.double)

cameras[camera_id] = params

images = {}

with open(os.path.join(args.output_path, "list.txt"), "w") as fid:

cursor.execute("SELECT image_id, camera_id, name FROM images;")

for row in cursor:

image_id = row[0]

camera_id = row[1]

image_name = row[2]

print("Copying image", image_name)

images[image_id] = (len(images), image_name)

fid.write("./%s 0 %f\n" % (image_name, cameras[camera_id][0]))

if not os.path.exists(os.path.join(args.output_path, image_name)):

shutil.copyfile(os.path.join(args.image_path, image_name),

os.path.join(args.output_path, image_name))

for image_id, (image_idx, image_name) in images.iteritems():

print("Exporting key file for", image_name)

base_name, ext = os.path.splitext(image_name)

key_file_name = os.path.join(args.output_path, base_name + ".key")

key_file_name_gz = key_file_name + ".gz"

if os.path.exists(key_file_name_gz):

continue

cursor.execute("SELECT data FROM keypoints WHERE image_id=?;",

(image_id,))

row = next(cursor)

if row[0] is None:

keypoints = np.zeros((0, 6), dtype=np.float32)

descriptors = np.zeros((0, 128), dtype=np.uint8)

else:

keypoints = np.fromstring(row[0], dtype=np.float32).reshape(-1, 6)

cursor.execute("SELECT data FROM descriptors WHERE image_id=?;",

(image_id,))

row = next(cursor)

descriptors = np.fromstring(row[0], dtype=np.uint8).reshape(-1, 128)

with open(key_file_name, "w") as fid:

fid.write("%d %d\n" % (keypoints.shape[0], descriptors.shape[1]))

for r in range(keypoints.shape[0]):

fid.write("%f %f %f %f\n" % (keypoints[r, 1], keypoints[r, 0],

keypoints[r, 2], keypoints[r, 3]))

for i in range(0, 128, 20):

desc_block = descriptors[r, i:i+20]

fid.write(" ".join(map(str, desc_block.ravel().tolist())))

fid.write("\n")

with open(key_file_name, "rb") as fid_in:

with gzip.open(key_file_name + ".gz", "wb") as fid_out:

fid_out.writelines(fid_in)

os.remove(key_file_name)

with open(os.path.join(args.output_path, "matches.init.txt"), "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_idx1 = images[image_id1][0]

image_idx2 = images[image_id2][0]

fid.write("%d %d\n%d\n" % (image_idx1, image_idx2,

inlier_matches.shape[0]))

for i in range(inlier_matches.shape[0]):

fid.write("%d %d\n" % (inlier_matches[i, 0],

inlier_matches[i, 1]))

with open(os.path.join(args.output_path, "run_bundler.sh"), "w") as fid:

fid.write("bin/Bundler list.txt \\\n")

fid.write("--run_bundle \\\n")

fid.write("--use_focal_estimate \\\n")

fid.write("--output_all bundle_ \\\n")

fid.write("--constrain_focal \\\n")

fid.write("--estimate_distortion \\\n")

fid.write("--match_table matches.init.txt \\\n")

fid.write("--variable_focal_length \\\n")

fid.write("--output_dir bundle \\\n")

fid.write("--output bundle.out \\\n")

fid.write("--constrain_focal_weight 0.0001 \\\n")

cursor.close()